diff --git a/observations/1957/1237760/videos/back_left_fisheye_color.mp4 b/observations/1957/1237760/videos/back_left_fisheye_color.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..651da9108f268d29a987d8f862e7d28fa7baa59c
--- /dev/null
+++ b/observations/1957/1237760/videos/back_left_fisheye_color.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae7521f826a7295a2f5a905a75023ba05c3009650745281a4b12d537a7005b4
+size 27033498
diff --git a/observations/1957/1237760/videos/back_right_fisheye_color.mp4 b/observations/1957/1237760/videos/back_right_fisheye_color.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccc8177a6c08077fd2abf06a89bb3aec584f43dc
--- /dev/null
+++ b/observations/1957/1237760/videos/back_right_fisheye_color.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfd7e0a8501442bec72784e5224c53dcc81a6992fb406edec1eaba18ad97680d
+size 23345543
diff --git a/observations/1957/1237765/depth/head_depth_000007.png b/observations/1957/1237765/depth/head_depth_000007.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ac12222602c921ae3f9639245896c88504cd7f4
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000007.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af72240dc1dab36eac57de196b5241288b585b653100234a14f8868cb1ade9f5
+size 81974
diff --git a/observations/1957/1237765/depth/head_depth_000014.png b/observations/1957/1237765/depth/head_depth_000014.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e50d3b930b761799f8adfba3763a855d69f7d47
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000014.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5ef6f73d8614b241a2ae12faec487ec6584fa11f31348281e32d9e8b5c7fb0
+size 82449
diff --git a/observations/1957/1237765/depth/head_depth_000017.png b/observations/1957/1237765/depth/head_depth_000017.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f90d842834e883108d0374c52fa1273761f475
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000017.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18cebd43b1187b795a75d68cd3add33d32d52daf9be37cf6e050e50e2ad219ea
+size 82863
diff --git a/observations/1957/1237765/depth/head_depth_000021.png b/observations/1957/1237765/depth/head_depth_000021.png
new file mode 100644
index 0000000000000000000000000000000000000000..562acd42fa4ef3b70045715424479213f2db543e
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000021.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa8538bdc525f5a2f64142caac10c99cd4ee6d47f12c7306d6daea4549d2ef7
+size 82034
diff --git a/observations/1957/1237765/depth/head_depth_000022.png b/observations/1957/1237765/depth/head_depth_000022.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f6ec78d6b433c98437aa4ffcf4e6af7a0905738
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7e807db5f29194ebcb0d5e1dd0fcb5863cf291a901fb0fa826e0264c3d92c9
+size 82319
diff --git a/observations/1957/1237765/depth/head_depth_000028.png b/observations/1957/1237765/depth/head_depth_000028.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e457c44458a75c3982b26ce5c279fc1d5227de7
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000028.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb46f0d2218251f373246ec2e7a776cb91ca69569679ea9880ff3f1832847b5c
+size 80497
diff --git a/observations/1957/1237765/depth/head_depth_000029.png b/observations/1957/1237765/depth/head_depth_000029.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f2545572f8c55ccff6175cdcf8a473d83a256d2
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49a8e24cf2553f6f8e289a73561efb0fd4c7dc0c7e5c962e2ce37a49f98b6674
+size 81192
diff --git a/observations/1957/1237765/depth/head_depth_000035.png b/observations/1957/1237765/depth/head_depth_000035.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cd4b1cb07ece96e2ec5a1bb61aa1e1dfa7bf4a0
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fafa9c34c1f7a547329f081c3dd8f4f8252d033948f5fadd7abfa6f79d203f0
+size 81506
diff --git a/observations/1957/1237765/depth/head_depth_000038.png b/observations/1957/1237765/depth/head_depth_000038.png
new file mode 100644
index 0000000000000000000000000000000000000000..420a289d31e48cb5ce8dc0f2bfe065e0352e9eaf
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000038.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4c328c1bfcd8c376a9d65c777a911e021ec92116a7a3925a2566dca646219c9
+size 81308
diff --git a/observations/1957/1237765/depth/head_depth_000047.png b/observations/1957/1237765/depth/head_depth_000047.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d77788c4c6385d484ef58c70702a8cdbfe8b94d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000047.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f3997bd8802179a307921de6a5ac6c0d0a3d09213ec73515d42d139539d9156
+size 82534
diff --git a/observations/1957/1237765/depth/head_depth_000052.png b/observations/1957/1237765/depth/head_depth_000052.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1c8fd2c146fde66b81aea40989eabd89b196f3f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5be5db5bd58c8b594c0f1447a5ccf71e9fcf28da3e0e92440883465ba18086d7
+size 82400
diff --git a/observations/1957/1237765/depth/head_depth_000054.png b/observations/1957/1237765/depth/head_depth_000054.png
new file mode 100644
index 0000000000000000000000000000000000000000..414fb27793c5d69a5e68425be9359cdae7695171
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4075d0203db4e1980369416e5ad72fa23a734f9e85b1c43f8f4e30c36aadaff8
+size 82798
diff --git a/observations/1957/1237765/depth/head_depth_000056.png b/observations/1957/1237765/depth/head_depth_000056.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdea20771d26bdcf70ed2ad8be57085d4ddc6130
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3664ba0de456ca2664e5bf77eefe5b19de7d3e2e1f8d71562679fca0bc64705
+size 82380
diff --git a/observations/1957/1237765/depth/head_depth_000083.png b/observations/1957/1237765/depth/head_depth_000083.png
new file mode 100644
index 0000000000000000000000000000000000000000..63cd332bf2754284eff12929bf56cba401b8a755
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000083.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840a71c23f85539bf1dc669cab3d749ea74e6a2ba732d87009af10653cef023a
+size 86778
diff --git a/observations/1957/1237765/depth/head_depth_000116.png b/observations/1957/1237765/depth/head_depth_000116.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e7019c26dc2c9e971284948794a55d929a330d4
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000116.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:853bef24a04cac261426168f927916459126fedba8b8806030ca9d6b5103937d
+size 89407
diff --git a/observations/1957/1237765/depth/head_depth_000128.png b/observations/1957/1237765/depth/head_depth_000128.png
new file mode 100644
index 0000000000000000000000000000000000000000..59a06c0efd106cb435733d2a88a83a14febcf665
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000128.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:032aced142b7f5ddf9a42fef4aca9472d279a7dbc2529b065702b40f863a2d79
+size 89941
diff --git a/observations/1957/1237765/depth/head_depth_000138.png b/observations/1957/1237765/depth/head_depth_000138.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a5e70971733274e237ff9257c9202bcfa0334a5
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000138.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b81ac502a2b76d2e9bfbfcf104cd98e09bb38c65588fe82629f235d97800a4
+size 87893
diff --git a/observations/1957/1237765/depth/head_depth_000141.png b/observations/1957/1237765/depth/head_depth_000141.png
new file mode 100644
index 0000000000000000000000000000000000000000..f43ba6949289b860f39b9e811600fe9b4f52f6d2
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000141.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe29367dae43374eed392268ea10c0a08de2153a9b341f21370e3f52c0ea909
+size 87132
diff --git a/observations/1957/1237765/depth/head_depth_000148.png b/observations/1957/1237765/depth/head_depth_000148.png
new file mode 100644
index 0000000000000000000000000000000000000000..d997d05b523a5901b2254fdd017e6e54107e4fef
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000148.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6827cbe0910e7f1389ca687b2cd8c355ac230d0bbe03fa60bf5a7634201249e2
+size 87537
diff --git a/observations/1957/1237765/depth/head_depth_000158.png b/observations/1957/1237765/depth/head_depth_000158.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1c0d229a78a8badbbb6296ae6d1528bdb12fdb1
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000158.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e78004dfc8bf5c35739930c4283fb73f2c8fcc1b6a6b702e05f717b61943709b
+size 87996
diff --git a/observations/1957/1237765/depth/head_depth_000170.png b/observations/1957/1237765/depth/head_depth_000170.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4b70640d33107502266399b23cfbd5279b01c1c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000170.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38dac3ca34b2dfd118a21490cea10d2f1ec3dd5be9c0bddbca963c3f9071f743
+size 89564
diff --git a/observations/1957/1237765/depth/head_depth_000185.png b/observations/1957/1237765/depth/head_depth_000185.png
new file mode 100644
index 0000000000000000000000000000000000000000..179ef0b0f311b3336e9ab3dc85517ea553a3c8c9
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000185.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5dad0ca346a3a62a953990e42a8931476661afd7d020622abf7d5ffe96bfa0e
+size 87640
diff --git a/observations/1957/1237765/depth/head_depth_000186.png b/observations/1957/1237765/depth/head_depth_000186.png
new file mode 100644
index 0000000000000000000000000000000000000000..512bf2dada005655470626f391539653247e20ca
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000186.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a203851583e073f94b013789278a55f64c77abb33398095bef9fa60e8759acf8
+size 87024
diff --git a/observations/1957/1237765/depth/head_depth_000190.png b/observations/1957/1237765/depth/head_depth_000190.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a78cb5e53c850f16c282d677a9c48d785e4e3bd
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000190.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8736ffcf6d40a24a843411e80403090f239c1df293c835be3a38b91856786cc
+size 84362
diff --git a/observations/1957/1237765/depth/head_depth_000191.png b/observations/1957/1237765/depth/head_depth_000191.png
new file mode 100644
index 0000000000000000000000000000000000000000..00e577ea3e38eb46334be29f83fb4ed964dc6077
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000191.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9a74c6ead2564ade0ec630d34194dc5f5facd2036a4ff8c55f9926e0c0cd48
+size 85086
diff --git a/observations/1957/1237765/depth/head_depth_000195.png b/observations/1957/1237765/depth/head_depth_000195.png
new file mode 100644
index 0000000000000000000000000000000000000000..74ba0c671997d22b3169e56d64b9c47a2a53e788
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000195.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f62bbada4c467237847ee49df9d127010b1504a68b6228ed74a493356e7f2d
+size 85075
diff --git a/observations/1957/1237765/depth/head_depth_000207.png b/observations/1957/1237765/depth/head_depth_000207.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6a216a96f4cde36a5ab9f3a1b8b2960ab8f790f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b77349d62dadb866776c419eead08dc07e946890b975d3bb2a6c1f4e9a02baf
+size 84788
diff --git a/observations/1957/1237765/depth/head_depth_000214.png b/observations/1957/1237765/depth/head_depth_000214.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c2236144a0ad1a282c80bfd2c32aa3450481fe5
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000214.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4cdc90f72566a7e2ce59f369f46ecaa51a9c6c29a2c6236e9c5e9e3d99a89f
+size 84130
diff --git a/observations/1957/1237765/depth/head_depth_000218.png b/observations/1957/1237765/depth/head_depth_000218.png
new file mode 100644
index 0000000000000000000000000000000000000000..db963b06c2274a39df57d75d00e2e874fbacf46d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000218.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68731debbb63c7bd587470b8423d66fa4fce05a6e8608585f1e460d9a79a1510
+size 83644
diff --git a/observations/1957/1237765/depth/head_depth_000232.png b/observations/1957/1237765/depth/head_depth_000232.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7884a9eb1488dd8c2d801571a42ac739de1297b
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000232.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e9108cb387510ac0ab4f8f4663d316bccd95b3845e4beba3fabcab3f0533129
+size 84652
diff --git a/observations/1957/1237765/depth/head_depth_000237.png b/observations/1957/1237765/depth/head_depth_000237.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1df077b8696ab4b7208c70b6b29762c66f5ede9
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000237.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64e71ff79cd823d9cfe749c80dca35d54d92e0f8a9115dd29465474275294a5c
+size 85591
diff --git a/observations/1957/1237765/depth/head_depth_000238.png b/observations/1957/1237765/depth/head_depth_000238.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c7323ee3db792345ac7ff05d78c4d9a90a0a3f7
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fbebc521391c860739ef7acb63961224c32a380b99ab5b490f7373329c1e74
+size 85595
diff --git a/observations/1957/1237765/depth/head_depth_000241.png b/observations/1957/1237765/depth/head_depth_000241.png
new file mode 100644
index 0000000000000000000000000000000000000000..31c228e20956e83b8448f2a2e0c040fad0c5900d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000241.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6864783edc980b4c724f2ec406d4636c2bbb6c503f4050cb6048812378e9f038
+size 85810
diff --git a/observations/1957/1237765/depth/head_depth_000255.png b/observations/1957/1237765/depth/head_depth_000255.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fbc587ca48d68743e21a2c055fea72f7092433e
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c44a5cf5e8a329f5d9a6816e2477560f82011908e671f0711a903840589962
+size 84797
diff --git a/observations/1957/1237765/depth/head_depth_000266.png b/observations/1957/1237765/depth/head_depth_000266.png
new file mode 100644
index 0000000000000000000000000000000000000000..086768ccf8d1d724a4fe8a65dfeca00b9bf42d42
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000266.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a94bfdb6c13ac4917ea8a36661c450439a01864b98dc1701725e3c52ce2013b
+size 85368
diff --git a/observations/1957/1237765/depth/head_depth_000273.png b/observations/1957/1237765/depth/head_depth_000273.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb444a3bc049db0f4ff4423765a46ab2bf3419f2
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000273.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6705f7cea01bfa825f9cad8464dca4d00a6178266013927dddc816fea7792b
+size 83666
diff --git a/observations/1957/1237765/depth/head_depth_000279.png b/observations/1957/1237765/depth/head_depth_000279.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c232b62e83698440991884a49d45b51a0b11085
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000279.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0334e5814bc6e79adf69cfabfea682eb46d8876b310b9e32dbbf171d4ab4f29c
+size 85604
diff --git a/observations/1957/1237765/depth/head_depth_000282.png b/observations/1957/1237765/depth/head_depth_000282.png
new file mode 100644
index 0000000000000000000000000000000000000000..83cce364f75c002396baaac0ab6c31a50c5145e8
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000282.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237db924670691d2ad8033cff2cfd3f6dca83458e989536fa48a65d0239974a8
+size 84733
diff --git a/observations/1957/1237765/depth/head_depth_000293.png b/observations/1957/1237765/depth/head_depth_000293.png
new file mode 100644
index 0000000000000000000000000000000000000000..929c11a2d8f8c5f181f7118898014f7298ec6c2c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000293.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e60ec05f41a7e1ac695d84c069429f216f95619e6b7e5901e08a027201635459
+size 85628
diff --git a/observations/1957/1237765/depth/head_depth_000295.png b/observations/1957/1237765/depth/head_depth_000295.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbdb9ebf6ab9ffea31f08b9da25b07a8f8301e85
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000295.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4941dbb7661841769ba17b0cca4928709f6b64d966c1bc5f4db494013c577c
+size 87659
diff --git a/observations/1957/1237765/depth/head_depth_000299.png b/observations/1957/1237765/depth/head_depth_000299.png
new file mode 100644
index 0000000000000000000000000000000000000000..6461faa38af6dfc2d43b9df75cf212b1ba61555f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000299.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:215c036bd509dd73ded1075175dbf27ca56e2514aad25e2e68a2e95550338529
+size 86533
diff --git a/observations/1957/1237765/depth/head_depth_000309.png b/observations/1957/1237765/depth/head_depth_000309.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0fe95a548a75c74422ab13a51fff12ae14c5dac
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000309.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9da2773ccac5ebf027fd3a8d12936c13b950aa1a6ec41dbc954b567839086dca
+size 87201
diff --git a/observations/1957/1237765/depth/head_depth_000313.png b/observations/1957/1237765/depth/head_depth_000313.png
new file mode 100644
index 0000000000000000000000000000000000000000..efcf725533e3c42cae2bc3474f6cd81d233eab2d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85dd3d0f2d05f7a362cb6c8c1186e275de93802926a164e0d18c2c2070d32043
+size 83912
diff --git a/observations/1957/1237765/depth/head_depth_000315.png b/observations/1957/1237765/depth/head_depth_000315.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4cf2c3d5013c6455188daa1ca0a38ccfb7046f7
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af19f015505b24c4e86adb3baf6e814ab0ff24c61cc41354d7954e7b492be40
+size 83729
diff --git a/observations/1957/1237765/depth/head_depth_000317.png b/observations/1957/1237765/depth/head_depth_000317.png
new file mode 100644
index 0000000000000000000000000000000000000000..14ce2131e9f7931994761753db12b45a616b71dd
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28998e57282d5a41f8d2f07643aefdbd1213bc1c670b8d576debe99ce5c9ff6b
+size 81839
diff --git a/observations/1957/1237765/depth/head_depth_000322.png b/observations/1957/1237765/depth/head_depth_000322.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fb756b4f7561c0ebd67fa3e835beaf71e3fb320
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5be1babf081df8511a3fbfc960269f872b4ae883c30b4a2941a97ea5cc22c4c8
+size 82663
diff --git a/observations/1957/1237765/depth/head_depth_000324.png b/observations/1957/1237765/depth/head_depth_000324.png
new file mode 100644
index 0000000000000000000000000000000000000000..417df5df44ae8763e8389e87b0ba408dba3dcaf4
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22a2e317e37aeea4f5942d4aed7bf3bee4a83e4b5816f3474586563e8e004778
+size 82959
diff --git a/observations/1957/1237765/depth/head_depth_000326.png b/observations/1957/1237765/depth/head_depth_000326.png
new file mode 100644
index 0000000000000000000000000000000000000000..dadac338238dd2c4dba7431731222f4b5a4cf42e
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000326.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beed92999460683f46fa64b818fc3c8e2fa4bf9f26c726f2a42508fc791451a2
+size 84333
diff --git a/observations/1957/1237765/depth/head_depth_000343.png b/observations/1957/1237765/depth/head_depth_000343.png
new file mode 100644
index 0000000000000000000000000000000000000000..e17487108e8680a187d347a1da493a4bc1667e9d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec7f8d105013f36e4dbf841af01cfc0f6a7d56213834b7be3309bb78fbc0a36
+size 84843
diff --git a/observations/1957/1237765/depth/head_depth_000353.png b/observations/1957/1237765/depth/head_depth_000353.png
new file mode 100644
index 0000000000000000000000000000000000000000..05ab918115c9a78943cf2e6beab9e145e15a87ec
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2adac672d81d88fd7234e0fdacf6e948e0589d0946abdb14ee98f4e847d070
+size 84144
diff --git a/observations/1957/1237765/depth/head_depth_000357.png b/observations/1957/1237765/depth/head_depth_000357.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c78b262cfc94765b40518bcf41d7afed40549fd
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88739a7f869ef8fe9d6f04a0496000414df9bad681c698c11e5728f380f98c3d
+size 82351
diff --git a/observations/1957/1237765/depth/head_depth_000359.png b/observations/1957/1237765/depth/head_depth_000359.png
new file mode 100644
index 0000000000000000000000000000000000000000..20af81abe3f2e86df4ef64d597a2b190f40717f3
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000359.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c93fe0e7bc903f57eb27803f55cf8de72f4c997b451418da2eeccb5f350f0566
+size 82487
diff --git a/observations/1957/1237765/depth/head_depth_000374.png b/observations/1957/1237765/depth/head_depth_000374.png
new file mode 100644
index 0000000000000000000000000000000000000000..b76f401821c645600b5ff04e1c32df5281ceb71c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000374.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369ba5ca3e627587d5a6ca6b52c234d18d09ea8b9acf4c55d95b7999f5253064
+size 81880
diff --git a/observations/1957/1237765/depth/head_depth_000389.png b/observations/1957/1237765/depth/head_depth_000389.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1a51fa01a8c83033c9d6403e2750873b5a4c354
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000389.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6478f13046c1ad6bdece7aba66d74ec7ed6464d34a276bc7e6476516c0a847f2
+size 82009
diff --git a/observations/1957/1237765/depth/head_depth_000393.png b/observations/1957/1237765/depth/head_depth_000393.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d491b6eb42717a0e620f5e44e0561e82ae9adaa
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000393.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381996bde2d237304c4a6951ddf7acf8ba00eac7cc48a13fc04022396b1fe49b
+size 81677
diff --git a/observations/1957/1237765/depth/head_depth_000400.png b/observations/1957/1237765/depth/head_depth_000400.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4513b4dbf121dee392f883ccfc1be7cdf4b1705
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55acf7f19f92c2b19dcbe88679d7c3426f4aef1944b2e7141a24f2c14b8070a3
+size 81369
diff --git a/observations/1957/1237765/depth/head_depth_000422.png b/observations/1957/1237765/depth/head_depth_000422.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b3bac3468b6f0900ca4e76857be003788983cf9
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc7961c1d87d3957f53306199640e88a88d26d8b9af54bfcc016fcc4b96c6d3c
+size 82129
diff --git a/observations/1957/1237765/depth/head_depth_000424.png b/observations/1957/1237765/depth/head_depth_000424.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3ce75272ac89498fa2d541fe41ad5e8730c8f7c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd038ed34e1a102a0a6bdebc40a6c8e9fb2702f457df517ac0b31242277d018
+size 82006
diff --git a/observations/1957/1237765/depth/head_depth_000433.png b/observations/1957/1237765/depth/head_depth_000433.png
new file mode 100644
index 0000000000000000000000000000000000000000..88e538127107d8e17c36b3f5273b3623ccb340c9
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:927efbcbf66d088a77b7609788c9019b4c309ccaedbacb7d341a3328eb15a82b
+size 81534
diff --git a/observations/1957/1237765/depth/head_depth_000436.png b/observations/1957/1237765/depth/head_depth_000436.png
new file mode 100644
index 0000000000000000000000000000000000000000..da72c39b344fb5f519c9e4e66b8463e623e895cc
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c68eb8c9f2df6c964b697e070f5562318d3f4fd1664ebde0bfbe6bdd4e62579
+size 81024
diff --git a/observations/1957/1237765/depth/head_depth_000442.png b/observations/1957/1237765/depth/head_depth_000442.png
new file mode 100644
index 0000000000000000000000000000000000000000..6301544e09f5c8f3305fd92421e2771ba2e60c6e
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67c7825f3201eb3e31d285a50041f78d6e83c6ab56a24d672b41b3fcfe04ee7
+size 81351
diff --git a/observations/1957/1237765/depth/head_depth_000445.png b/observations/1957/1237765/depth/head_depth_000445.png
new file mode 100644
index 0000000000000000000000000000000000000000..376dbff26e92c2540f9237cbf290557ec0ffb642
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05d85c395f2cb57736f9e993c8dc5143b43e228e310abd094274709152e0a4b
+size 81119
diff --git a/observations/1957/1237765/depth/head_depth_000459.png b/observations/1957/1237765/depth/head_depth_000459.png
new file mode 100644
index 0000000000000000000000000000000000000000..79517fd747ab414db7e1ac07b633555357e124c7
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1101998139bcbb32a30810f702ecb6e7f870576c1c8c113f8a4197b9c3717f
+size 81581
diff --git a/observations/1957/1237765/depth/head_depth_000486.png b/observations/1957/1237765/depth/head_depth_000486.png
new file mode 100644
index 0000000000000000000000000000000000000000..87f1cc1ece0ed532686feb7f900bbba7f1e0168c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000486.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ce9deb5a8b553c62d68a0d48f0b836cafd5612266f2e454fc3245333f4429c8
+size 84048
diff --git a/observations/1957/1237765/depth/head_depth_000492.png b/observations/1957/1237765/depth/head_depth_000492.png
new file mode 100644
index 0000000000000000000000000000000000000000..825809fd30d39cee3cf07db30a53624b3c4e05ad
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000492.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b145f87ce89e1c0d9ba221a57276c8efb302f9a3e94e145ca0917865a752917
+size 84386
diff --git a/observations/1957/1237765/depth/head_depth_000512.png b/observations/1957/1237765/depth/head_depth_000512.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aad59ce3a695d0ff94e7ecec5dcf7faa1fb2aad
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f65c9661fa2bc4f82b7be14e59d2e0fd2cf9d68f64d1f0955f23c392963fef0
+size 84988
diff --git a/observations/1957/1237765/depth/head_depth_000526.png b/observations/1957/1237765/depth/head_depth_000526.png
new file mode 100644
index 0000000000000000000000000000000000000000..650c7676d6a6e0889bfcf176ca6a683dea3b04a9
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000526.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8f55806cf9fe4d2fd99cdd498478d5cce5c84319e9fb8d259f6398d5004a40
+size 86804
diff --git a/observations/1957/1237765/depth/head_depth_000561.png b/observations/1957/1237765/depth/head_depth_000561.png
new file mode 100644
index 0000000000000000000000000000000000000000..23114353c1eea7e574ae3ebae29d78f60928c233
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000561.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7cafb83c9647a9519312152cbfe6fdec431520c9acc479bd9d4faa0c2eeb6e8
+size 88360
diff --git a/observations/1957/1237765/depth/head_depth_000570.png b/observations/1957/1237765/depth/head_depth_000570.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8a850c68f35b73dc24eca1430ebb537ddb38cd5
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000570.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012d099ca0aaf01f9515cd2d0dc393e0a9338b2bce6305009a3410a8dd70d7cc
+size 86134
diff --git a/observations/1957/1237765/depth/head_depth_000571.png b/observations/1957/1237765/depth/head_depth_000571.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddcb64e07d89079fa6a4604b374096845df1daa7
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000571.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a2b34b14d9986bd6222de4103c4d3b4ed31dc2a0ab89b588d996862a509798
+size 87682
diff --git a/observations/1957/1237765/depth/head_depth_000572.png b/observations/1957/1237765/depth/head_depth_000572.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e5b65b2af3a5737d0381835e867575c8150596d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000572.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0fa52f2c6ff953851e9b412329af84481d156fdfa2c2a6979e68c03b00ae3f
+size 87423
diff --git a/observations/1957/1237765/depth/head_depth_000577.png b/observations/1957/1237765/depth/head_depth_000577.png
new file mode 100644
index 0000000000000000000000000000000000000000..17a14de31bdfbabc1cf1de23bf19f478fe6cc22a
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000577.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4ae8f141738c968e8966d4fe1741eaa010581b9e234dcaf1c0d6ee0a604104
+size 87667
diff --git a/observations/1957/1237765/depth/head_depth_000582.png b/observations/1957/1237765/depth/head_depth_000582.png
new file mode 100644
index 0000000000000000000000000000000000000000..20e1b5211ed3993df43f2b7b3640ae426ed72824
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000582.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48cc62689bdde55407455684c63f62d0a9c6ad42c84e20f3c65986c1dc4a61da
+size 88715
diff --git a/observations/1957/1237765/depth/head_depth_000591.png b/observations/1957/1237765/depth/head_depth_000591.png
new file mode 100644
index 0000000000000000000000000000000000000000..0936fe2a81e091ecdd04ac21537db23880a477c2
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000591.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64c6431fa788dbf1fd9fbcbab8337e56d76ab3de4214d9f5aef01893a48fc90
+size 88330
diff --git a/observations/1957/1237765/depth/head_depth_000617.png b/observations/1957/1237765/depth/head_depth_000617.png
new file mode 100644
index 0000000000000000000000000000000000000000..f60a5b363cebf8b8980c506a3ba454ee0e0e8ae6
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000617.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a9115379a5562f973c19bd61be035e8c8e7d050991cc2294e09e1c8c4ee544
+size 83359
diff --git a/observations/1957/1237765/depth/head_depth_000634.png b/observations/1957/1237765/depth/head_depth_000634.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e41f1da8ba2b312d4741be7fb8433a555d6acea
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000634.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a5dbb66e162e44ee4dd4a4ec18b17ddc9906b1e93a93e3900d880eb454a6729
+size 81594
diff --git a/observations/1957/1237765/depth/head_depth_000649.png b/observations/1957/1237765/depth/head_depth_000649.png
new file mode 100644
index 0000000000000000000000000000000000000000..e30572c5f54e40adae615aa367d09d34cd18eca9
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000649.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f483aef58558c4c53e0a7b3d9bc5d7a1123bd1ddfef0256fd4c1080516f5bfaf
+size 84204
diff --git a/observations/1957/1237765/depth/head_depth_000654.png b/observations/1957/1237765/depth/head_depth_000654.png
new file mode 100644
index 0000000000000000000000000000000000000000..362753f976e7b8de4636e2d8ffd51f1c40a47580
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000654.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4dc8a9032c466da5019c4533954609ef7fd2b32428fbadc1774bac263c076a
+size 84124
diff --git a/observations/1957/1237765/depth/head_depth_000668.png b/observations/1957/1237765/depth/head_depth_000668.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfaee62d5c5cdd5e6238672f972501de3e9a6b4c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000668.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d787862b1ecb01df39fc87daf44473dffb8f43e989feb06615cec2b7c92c01f
+size 83696
diff --git a/observations/1957/1237765/depth/head_depth_000674.png b/observations/1957/1237765/depth/head_depth_000674.png
new file mode 100644
index 0000000000000000000000000000000000000000..d252cd0e5ca26de2daaf0dc1503a1368a7f4164b
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000674.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74f221fa6465711330352ae31238dcaf7804b8ec64546a3d19ae7acdcdbd744
+size 85253
diff --git a/observations/1957/1237765/depth/head_depth_000694.png b/observations/1957/1237765/depth/head_depth_000694.png
new file mode 100644
index 0000000000000000000000000000000000000000..04ef0c5ffdd29fef27c4a2dd5cd7b28ff92d4486
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000694.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d34d64292f04bb5d8a3a81ad0b45613f15765ef8fbbe8aaeeb7611952a47ff92
+size 84945
diff --git a/observations/1957/1237765/depth/head_depth_000697.png b/observations/1957/1237765/depth/head_depth_000697.png
new file mode 100644
index 0000000000000000000000000000000000000000..2093bda0d305937b020c5eedbd94f19a3c335790
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000697.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2b2748ea5977ea2d28e67fb137d298539ab428faa330aec0a1a5fb3512b8b32
+size 85185
diff --git a/observations/1957/1237765/depth/head_depth_000701.png b/observations/1957/1237765/depth/head_depth_000701.png
new file mode 100644
index 0000000000000000000000000000000000000000..50e47fbd6b49f521b0d99c1a8b03ccd0c71e98d1
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8098ce665aeea03e38cf5988cd2c6dfa4769993c94181ef93d6a6f0ff0bd303a
+size 85963
diff --git a/observations/1957/1237765/depth/head_depth_000706.png b/observations/1957/1237765/depth/head_depth_000706.png
new file mode 100644
index 0000000000000000000000000000000000000000..277398b5cdeb523eed70ba84105b5aa93fbba545
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000706.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8d142ccc6b865b36b9bd5647338b09008e38968a04cf40f3142db378f06f17e
+size 86073
diff --git a/observations/1957/1237765/depth/head_depth_000709.png b/observations/1957/1237765/depth/head_depth_000709.png
new file mode 100644
index 0000000000000000000000000000000000000000..d180aaf3da797df63d9abc4b689c787b8e2090d3
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000709.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a61c16b884c73803f1f198ace00a339a57452dc9c0bbc6087d46cb8d0186251f
+size 86007
diff --git a/observations/1957/1237765/depth/head_depth_000714.png b/observations/1957/1237765/depth/head_depth_000714.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ac67043fe23aa702f6c8cebe747259fc90d0609
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000714.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f60c42056e93d19c1408344945fcb9de301fd6c41642d793da377e749012fd
+size 88107
diff --git a/observations/1957/1237765/depth/head_depth_000717.png b/observations/1957/1237765/depth/head_depth_000717.png
new file mode 100644
index 0000000000000000000000000000000000000000..83b3a3cfd5cf67a6824c048545990bcacc13980f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000717.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f701906d6e641d0a8170754a462f97de37c8b4040903d8509a02af278929b09
+size 86906
diff --git a/observations/1957/1237765/depth/head_depth_000726.png b/observations/1957/1237765/depth/head_depth_000726.png
new file mode 100644
index 0000000000000000000000000000000000000000..897df4f4d3ad4c4c9f3bc3ae5fcaace01bf4cd21
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000726.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eaadf0d07fd5098bc3ef077e8d28bda5090425127eb9cb384ab19e04fbe03ee
+size 89616
diff --git a/observations/1957/1237765/depth/head_depth_000727.png b/observations/1957/1237765/depth/head_depth_000727.png
new file mode 100644
index 0000000000000000000000000000000000000000..90d6e593626b027c86a9fc00b08d3d2251b8e971
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c79fdfe8e86556b8f35357aba08c5906027cb41bbc75ebb1ee20624edcd7bba
+size 89225
diff --git a/observations/1957/1237765/depth/head_depth_000728.png b/observations/1957/1237765/depth/head_depth_000728.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a3d750184a2dac2e8641d3ec4d4a253457ba032
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000728.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1ca5fe516408a65367f42a6c4fae33938be0d7c7bc12c05784634dc9f45c56
+size 89704
diff --git a/observations/1957/1237765/depth/head_depth_000733.png b/observations/1957/1237765/depth/head_depth_000733.png
new file mode 100644
index 0000000000000000000000000000000000000000..19634cb39f57bbdbf76e605f7e364794ac67944c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000733.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43db8b46dc94ea2b2c3b3f429c5c2e8241cb19a497c10a4aae1441fb65a3502c
+size 87999
diff --git a/observations/1957/1237765/depth/head_depth_000745.png b/observations/1957/1237765/depth/head_depth_000745.png
new file mode 100644
index 0000000000000000000000000000000000000000..43cebd46bf1ef590ecd6c24b84965d398f10d3a8
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000745.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8aad078281d94fe312f9c238ccbf52c7d2b344b5a6f4935011e92af51f3e406
+size 85982
diff --git a/observations/1957/1237765/depth/head_depth_000746.png b/observations/1957/1237765/depth/head_depth_000746.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c0020228dc3682bfcf999b892c9804c4be7637b
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08c1505ef4171f9f8cbbdeb8251682a656a9ddcffbdf11f17f323c8d99fe3a3
+size 86596
diff --git a/observations/1957/1237765/depth/head_depth_000761.png b/observations/1957/1237765/depth/head_depth_000761.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a2e02cdcddf5090b35771b75bfed9dc4eda6c12
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000761.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af4a13d64fc07e9ceca51e98d5be142fa75c1fa68904679e5ac78fc5e2592ce
+size 82664
diff --git a/observations/1957/1237765/depth/head_depth_000762.png b/observations/1957/1237765/depth/head_depth_000762.png
new file mode 100644
index 0000000000000000000000000000000000000000..36a0322649400d85ee72a3c84e6561c739821f3f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000762.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a82fc2b3115cb63afc298e4371197a65098d738d5e6ebeacc6ec409d7a16437
+size 82503
diff --git a/observations/1957/1237765/depth/head_depth_000766.png b/observations/1957/1237765/depth/head_depth_000766.png
new file mode 100644
index 0000000000000000000000000000000000000000..902d4e54eefa5bfa44e95e301c4feccd650d0389
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000766.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a3e8c7903d35bbba1e9c4302e49be4df1de4cb42bb006a5bc8004810458b04
+size 81656
diff --git a/observations/1957/1237765/depth/head_depth_000774.png b/observations/1957/1237765/depth/head_depth_000774.png
new file mode 100644
index 0000000000000000000000000000000000000000..e79b380053dd4db4f18c4bc840cd2f08bc66754f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000774.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b25d534658b33743887c4014205e09bab3ed0e18b72eb53dd9d3905724d709ea
+size 80251
diff --git a/observations/1957/1237765/depth/head_depth_000781.png b/observations/1957/1237765/depth/head_depth_000781.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea93b869ec0be707fe287fa3c9fb65fae7a9ff1f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000781.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2231a1fa6c841118042c5f53f95e771e8ceda10daca11f4993256ba4d6eaa4
+size 78567
diff --git a/observations/1957/1237765/depth/head_depth_000789.png b/observations/1957/1237765/depth/head_depth_000789.png
new file mode 100644
index 0000000000000000000000000000000000000000..4401521f6210a31e5ca236ea9cb425c8b6f310bb
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000789.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d488c9f190a950bc623d75124d66bcef097d079b04bf18a2a6a8c0c743cc531
+size 80784
diff --git a/observations/1957/1237765/depth/head_depth_000792.png b/observations/1957/1237765/depth/head_depth_000792.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c0387d8228ff623d0e4f7ae73be626e887c5096
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000792.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62691fc7e319190ac777e86209dc1a38cdd97701aa82db6cd805309def9cf9a3
+size 82125
diff --git a/observations/1957/1237765/depth/head_depth_000802.png b/observations/1957/1237765/depth/head_depth_000802.png
new file mode 100644
index 0000000000000000000000000000000000000000..a32134f3a13d405cff4d1a4631174f73fed3fa1e
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27661930079d857e91b4e9176676040fe04b70b62a2ae1a64e7f551e3ee0609
+size 81187
diff --git a/observations/1957/1237765/depth/head_depth_000813.png b/observations/1957/1237765/depth/head_depth_000813.png
new file mode 100644
index 0000000000000000000000000000000000000000..ede8a2b842b881b7ead15ed0e92e9f740f664688
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7850cd80c1dea47be7f9acc2b31818c171f02a39d55d00b03337dd632cd8fa
+size 82127
diff --git a/observations/1957/1237765/depth/head_depth_000826.png b/observations/1957/1237765/depth/head_depth_000826.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc2c78e44f8b3d59e3774436a8984603e9397524
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46725dd83675ece8f1cd44164f6da28a1a53ae3f850421a785cef0b54ea255d1
+size 82006
diff --git a/observations/1957/1237765/depth/head_depth_000834.png b/observations/1957/1237765/depth/head_depth_000834.png
new file mode 100644
index 0000000000000000000000000000000000000000..27426ae58962191fe10938fbca800db411988d49
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d434af8913e439d7e19586837060ff81f7df14ba07cd3b805519b32298a6592
+size 83307
diff --git a/observations/1957/1237765/depth/head_depth_000845.png b/observations/1957/1237765/depth/head_depth_000845.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ec65456c36c048b9fe5a7394d803dc9825da1c4
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000845.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bffb970e0028bab47ebbcdecf08d0c2eb6b999290d13bdbf1c7d49db00126be
+size 84358
diff --git a/observations/1957/1237765/depth/head_depth_000848.png b/observations/1957/1237765/depth/head_depth_000848.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e082b3ee1cabad77b9c3b611c139b57127a8192
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3765b15be692cd4665731a810b82d5488a7de13c1d419f966111cbbef4867a19
+size 82838
diff --git a/observations/1957/1237765/depth/head_depth_000849.png b/observations/1957/1237765/depth/head_depth_000849.png
new file mode 100644
index 0000000000000000000000000000000000000000..fba17c9c73b90008ceaa9f828df94c19705902ca
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000849.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7e5aef38424875eb453a84e4a009ed486934088844965e0d1ac406e508b66d
+size 84267
diff --git a/observations/1957/1237765/depth/head_depth_000855.png b/observations/1957/1237765/depth/head_depth_000855.png
new file mode 100644
index 0000000000000000000000000000000000000000..679b95f3cce7191b6e0801aa499641f477158a8c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:830a147407f3b79455ec9fd42d7013ec86df066bdc119206d7843b2ea578d591
+size 85108
diff --git a/observations/1957/1237765/depth/head_depth_000859.png b/observations/1957/1237765/depth/head_depth_000859.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d713b157746f1c7a5a5df4aaa774e8c278bb11e
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:816edd2cdc800f4125260ad055e1547f05ff1618ead0cb2629cc5ff74a4d9a6e
+size 86049
diff --git a/observations/1957/1237765/depth/head_depth_000863.png b/observations/1957/1237765/depth/head_depth_000863.png
new file mode 100644
index 0000000000000000000000000000000000000000..737b723c439b1bf05f2dd04d86751407790b6a59
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000863.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f4c79e533f3ce3d3a8d83b51e3274ceaf595b03a880ec8277b7688b7f8ed051
+size 85280
diff --git a/observations/1957/1237765/depth/head_depth_000865.png b/observations/1957/1237765/depth/head_depth_000865.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bd6444e0f3d59092104d19d3bb59e85970f9d2f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000865.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee547c343b5a65075b4128076f9707304f6401ffdfd30241599ea91e2e4a269d
+size 83846
diff --git a/observations/1957/1237765/depth/head_depth_000866.png b/observations/1957/1237765/depth/head_depth_000866.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8ed33391b14124553dc28c1342e7a3169223c20
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000866.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a7c23496300d28133e358d8cf8b757f770965a73313aa60887abb7a12bc010
+size 84520
diff --git a/observations/1957/1237765/depth/head_depth_000873.png b/observations/1957/1237765/depth/head_depth_000873.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d9efb496978042e4e0a3cd0d35f8b6d0a33dcfc
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000873.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a0b193549a8d4c1f44207a3d6109901a3c8cef7b3c94c5c75f4b67b768e309
+size 84894
diff --git a/observations/1957/1237765/depth/head_depth_000878.png b/observations/1957/1237765/depth/head_depth_000878.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe490c995838e5c96f37569d555bfbae74e43562
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000878.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb74e4dc461fbfe6c9d4702f3c6a907eae3f1173da17c9a9c069fb5b5b594c5
+size 83089
diff --git a/observations/1957/1237765/depth/head_depth_000882.png b/observations/1957/1237765/depth/head_depth_000882.png
new file mode 100644
index 0000000000000000000000000000000000000000..3455e03e0fc9bb41c13923ddef5017b100467708
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000882.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe42e64620ee541b3e55615b88b8310da916420078bf59a44b138af6a630e242
+size 83592
diff --git a/observations/1957/1237765/depth/head_depth_000906.png b/observations/1957/1237765/depth/head_depth_000906.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb2156737090cbbf3efc7c3fd7468d9cd60dfe0
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b91c158d17c606e88423ddc59e20da786816c98e477796b2ee69b80aecb581de
+size 78546
diff --git a/observations/1957/1237765/depth/head_depth_000911.png b/observations/1957/1237765/depth/head_depth_000911.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bcb3de186d930f61209ad94ebc87a2b28fdae14
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000911.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10a01ca8cd4ece31d66ffea0149725d2b78c5ee0a8939e188467df7c9a5fcbf8
+size 74983
diff --git a/observations/1957/1237765/depth/head_depth_000918.png b/observations/1957/1237765/depth/head_depth_000918.png
new file mode 100644
index 0000000000000000000000000000000000000000..54616dbf657419fdb8f5f7d5692a58a3c938def2
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000918.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6027f11f0cf32bf7e935cca9b63fb13fd4490547c1235386339ff8846ddb796
+size 75865
diff --git a/observations/1957/1237765/depth/head_depth_000932.png b/observations/1957/1237765/depth/head_depth_000932.png
new file mode 100644
index 0000000000000000000000000000000000000000..eff3876efea499cdf678105649fb7457c4526827
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000932.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8484dc4ff2453aad190649ee6f3675525efd4cbbb5c2830d55b964e60a15dca8
+size 76327
diff --git a/observations/1957/1237765/depth/head_depth_000942.png b/observations/1957/1237765/depth/head_depth_000942.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1f881aa7dab644b358405aff35b1e0ff9753a06
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee4696114973165692c008f93c4b8fbb13e97d3cc62c2e7980c906b80539fec
+size 77595
diff --git a/observations/1957/1237765/depth/head_depth_000958.png b/observations/1957/1237765/depth/head_depth_000958.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae7fd4010af2581df79a8518290ed7c4ee4112cb
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000958.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f95110c0c54755ae8b0a5d3c4fb410c709b6b1dfc349c9e258a5584f471da1
+size 81645
diff --git a/observations/1957/1237765/depth/head_depth_000974.png b/observations/1957/1237765/depth/head_depth_000974.png
new file mode 100644
index 0000000000000000000000000000000000000000..57a4533ac29149e506bf9fd5f3fd76696c072650
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000974.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad204252b666dc99204c7df392ccf572c6d427ef9d983bb1dca8b5a504b9ecc
+size 80720
diff --git a/observations/1957/1237765/depth/head_depth_000993.png b/observations/1957/1237765/depth/head_depth_000993.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ac85058daf9198f29e9fa8abfa14183f3ff70b0
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000993.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ad0f13e1d4d4993d26704ab4c8536714a696af82c7857acd0f12b8ffef0980
+size 81349
diff --git a/observations/1957/1237765/depth/head_depth_000995.png b/observations/1957/1237765/depth/head_depth_000995.png
new file mode 100644
index 0000000000000000000000000000000000000000..11ae552c643d7040480a0fdd515253f28c85a905
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_000995.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc08d29d8b29668da68ad855e638e60c3907128f90243a03881c5d8328398521
+size 80866
diff --git a/observations/1957/1237765/depth/head_depth_001008.png b/observations/1957/1237765/depth/head_depth_001008.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e9025fa81caf9e6a1b8625ba7349bfc3e134f5f
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001008.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72f2b7052b02c88c95c022170c3de9d4ccd6fab52ee2dd5572afdc20c8b1356e
+size 78282
diff --git a/observations/1957/1237765/depth/head_depth_001054.png b/observations/1957/1237765/depth/head_depth_001054.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ed503a750c693245aef9654400a4d0595c90138
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba37ac33dbc2eff8338c96c5e97bddddcb4709fb03fc768e876fe7dc5d476f67
+size 83490
diff --git a/observations/1957/1237765/depth/head_depth_001061.png b/observations/1957/1237765/depth/head_depth_001061.png
new file mode 100644
index 0000000000000000000000000000000000000000..59be60d905434cb926119602b524b8ca8784a7ca
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001061.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a7a7022228a584bbb325c1e48c74342f6e1077cbea8f04241cbe81e6bce36ca
+size 82505
diff --git a/observations/1957/1237765/depth/head_depth_001064.png b/observations/1957/1237765/depth/head_depth_001064.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8750de3c6eaebc4925b955956d87be8ed897ea9
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001064.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:182f8e5fda939f0e9d07e25dd3216e0f84076b55c5fbffb98e55cdfc3ee0b3fe
+size 84112
diff --git a/observations/1957/1237765/depth/head_depth_001080.png b/observations/1957/1237765/depth/head_depth_001080.png
new file mode 100644
index 0000000000000000000000000000000000000000..26e3b61ff27b9e9fd0cfd89020e7338b40cb00e8
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001080.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a439a9834cede5dac5d43a837548145664b60cbad906252416822c94b829890d
+size 81075
diff --git a/observations/1957/1237765/depth/head_depth_001086.png b/observations/1957/1237765/depth/head_depth_001086.png
new file mode 100644
index 0000000000000000000000000000000000000000..b11be759bc71b290fbf75d32ac8ce96cb741c907
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001086.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a15f83c086ceb4c2ec2f4f132d201ada209b354bdbec056926150ce4487a1303
+size 79265
diff --git a/observations/1957/1237765/depth/head_depth_001095.png b/observations/1957/1237765/depth/head_depth_001095.png
new file mode 100644
index 0000000000000000000000000000000000000000..da3cd860dd6a5e7a8f1b6f19bbca261336b7aff1
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001095.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9b105701a56214b7e5b6eac060a474b3d1574b7d67fb6d5e3fd256b9e9cb97
+size 78250
diff --git a/observations/1957/1237765/depth/head_depth_001096.png b/observations/1957/1237765/depth/head_depth_001096.png
new file mode 100644
index 0000000000000000000000000000000000000000..f40a687d08670ef76576150aebf82ce84fba4c93
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001096.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f26cae6a22354233b7df355ec78fd468b047d5db7982473ec1c1a9a12dd0dd84
+size 78940
diff --git a/observations/1957/1237765/depth/head_depth_001097.png b/observations/1957/1237765/depth/head_depth_001097.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e8a2af811fc6d4721e281c8615763a80e072631
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001097.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:761b9982bc9f0e908232d8d4146399bd5480b440a03a7342ab09bd8196be5718
+size 77701
diff --git a/observations/1957/1237765/depth/head_depth_001107.png b/observations/1957/1237765/depth/head_depth_001107.png
new file mode 100644
index 0000000000000000000000000000000000000000..68ac179f1e57dbd516a8f9655407f5a4c03804c3
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001107.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6201678b62b6bd0436d4a4332c153c6c79d12a724867b08f5fe10f435715509
+size 79335
diff --git a/observations/1957/1237765/depth/head_depth_001109.png b/observations/1957/1237765/depth/head_depth_001109.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ed1387d17b88a6040bd10a779719ae39edd769d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001109.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7938097a8ebbd36e0f16efa030ef1dfa50982a096ff88f7491f143e1b544c734
+size 80194
diff --git a/observations/1957/1237765/depth/head_depth_001110.png b/observations/1957/1237765/depth/head_depth_001110.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd50e6b0f0cff9c9a9b7cd5d8c6d4deb7efbeeb8
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001110.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ce2fb6f537cb049e652fb0050da412980665981b490b8d50a63f63b9ec407f
+size 79653
diff --git a/observations/1957/1237765/depth/head_depth_001113.png b/observations/1957/1237765/depth/head_depth_001113.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a8498ecca2381f3d9e63eefb169aa5cf184720
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001113.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26c0ae3449338cd25b908aeacc5e51807ca32a3886c15a7a9ec367c99faad45
+size 79570
diff --git a/observations/1957/1237765/depth/head_depth_001114.png b/observations/1957/1237765/depth/head_depth_001114.png
new file mode 100644
index 0000000000000000000000000000000000000000..d52b686f135a270973053f0bf6728d02b5dfa840
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001114.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2944d809a38858a3eadb918ce14925fc64db835d0c6ca7f3c67c70e2f239136
+size 78377
diff --git a/observations/1957/1237765/depth/head_depth_001118.png b/observations/1957/1237765/depth/head_depth_001118.png
new file mode 100644
index 0000000000000000000000000000000000000000..92c7c5d914a3a3a23ed093df2dc7c90efbbb207a
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001118.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d30781d70fe9c7a17d9f8fb6ecbeaa342f72f05a82a30e31657ab9c6aee464a
+size 78274
diff --git a/observations/1957/1237765/depth/head_depth_001126.png b/observations/1957/1237765/depth/head_depth_001126.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e5594a6f008bf6c2f8faf7bec2ee117cafa91e8
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001126.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8b0d19ba66f70d749c733bf3e821cef8d4dd5bc46188f2a99e3a6d0e3f5d49
+size 77951
diff --git a/observations/1957/1237765/depth/head_depth_001129.png b/observations/1957/1237765/depth/head_depth_001129.png
new file mode 100644
index 0000000000000000000000000000000000000000..90d2685f9269b73ecf6124d67a9c248a88ca2dc2
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001129.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d371618310f632c26bdec8ef83a190ac313660e928963f85f5d5ade87a339a1
+size 78575
diff --git a/observations/1957/1237765/depth/head_depth_001133.png b/observations/1957/1237765/depth/head_depth_001133.png
new file mode 100644
index 0000000000000000000000000000000000000000..37fb7594f28ddf89e5339cddaffa546134bdad1d
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001133.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd2e65df18f713bc11de136fcae455ce9b543a8947d0772b0670a259ad47660
+size 79498
diff --git a/observations/1957/1237765/depth/head_depth_001143.png b/observations/1957/1237765/depth/head_depth_001143.png
new file mode 100644
index 0000000000000000000000000000000000000000..a903110055ce577eda332e21de48967487dba9ff
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fe039b39c9425fa8b4f97f868079df18a7fe30c2b85159c96b8cccfc6bc6c48
+size 78979
diff --git a/observations/1957/1237765/depth/head_depth_001162.png b/observations/1957/1237765/depth/head_depth_001162.png
new file mode 100644
index 0000000000000000000000000000000000000000..a960e24b35a59d8b545d32f44e286db483ae332c
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001162.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:517f6e644aa07191b05cca179200668b164c7bf5673c23a29773658a44d75185
+size 78080
diff --git a/observations/1957/1237765/depth/head_depth_001164.png b/observations/1957/1237765/depth/head_depth_001164.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5ef5d1b7439a5ce7b12e7e6c1ba27d13d0f1daf
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001164.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131ca04f5f5a782e532b2448bc6eb1191348ccb50bfeacc6b3a0aa9916d6bf29
+size 77911
diff --git a/observations/1957/1237765/depth/head_depth_001166.png b/observations/1957/1237765/depth/head_depth_001166.png
new file mode 100644
index 0000000000000000000000000000000000000000..a81d1f3baa3100878c46f852c8cfaa23de836783
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001166.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9cfabbc8b9afe1b05265f237a4af3ffcae6490103bf9c8f137234dac89600d8
+size 78060
diff --git a/observations/1957/1237765/depth/head_depth_001169.png b/observations/1957/1237765/depth/head_depth_001169.png
new file mode 100644
index 0000000000000000000000000000000000000000..72769344e76aa2acb47eacf2c98287459aa8cd59
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001169.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30f2252aa69fef1c7202d92763789371027a505199172f1e732a7e6b12f45692
+size 79389
diff --git a/observations/1957/1237765/depth/head_depth_001173.png b/observations/1957/1237765/depth/head_depth_001173.png
new file mode 100644
index 0000000000000000000000000000000000000000..c36b314e02a018656f6a8ba817bde0063a8d8ad1
--- /dev/null
+++ b/observations/1957/1237765/depth/head_depth_001173.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e7424f7fe8b4d672af65b9df370ccbdfe6710e0210d3daaf0ca53261219957
+size 79420
diff --git a/parameters/1957/1237123/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/back_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/back_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.777058,
+                0.000000,
+                -0.629624
+            ],
+            [
+                0.609032,
+                -0.252871,
+                0.751592
+            ],
+            [
+                -0.159001,
+                -0.967678,
+                -0.196914
+            ]
+        ],
+        "translation_vector": [
+            -0.20355,
+            0.16055,
+            0.69999
+        ]
+    }
+}
diff --git a/parameters/1957/1237123/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3f0cff4fae2c75c909f64375fcd4046af0c00e5
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44c5275afa0feef60d26ec8d3104e3c2b40ba60
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/back_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.5715,
+        "fv": 236.697,
+        "pu": 476.7585,
+        "pv": 385.487,
+        "distortion_model": "equidistant",
+        "k1": 0.0996644,
+        "k2": -0.0472069,
+        "k3": 0.0136756,
+        "k4": -0.00175233
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/back_right_fisheye_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/back_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdff44961bc8e96364d931180b442f2b1eb5afdd
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/back_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                -0.777000000,
+                0.000000000,
+                -0.629000000
+            ],
+            [
+                0.609000000,
+                0.252000000,
+                -0.752000000
+            ],
+            [
+                0.159000000,
+                -0.967000000,
+                -0.196000000
+            ]
+        ],
+        "translation_vector": [
+            -0.20355,
+            -0.16055,
+            0.69999
+        ]
+    }
+}
diff --git a/parameters/1957/1237123/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..204e1a6a98db08fdb60b571e66a0b32b9be82f46
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..30be258c7dc58f408a64e306e07a833189752b22
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/back_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 235.3475,
+        "fv": 235.4555,
+        "pu": 480.4635,
+        "pv": 387.9695,
+        "distortion_model": "equidistant",
+        "k1": 0.1014,
+        "k2": -0.0479755,
+        "k3": 0.0136264,
+        "k4": -0.00169217
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237123/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf98573198d0da7f97c0de2feab317e96e85f5db
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/fisheye_camera_info.json
@@ -0,0 +1,37 @@
+{
+    "cam0": {
+        "SN": "CC2306980",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_left_fisheye"
+    },
+    "cam3": {
+        "SN": "CC7055459",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_right_fisheye"
+    },
+    "cam4": {
+        "SN": "CC6802023",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_center_fisheye"
+    },
+    "cam5": {
+        "SN": "CC6801859",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_left_fisheye"
+    },
+    "cam6": {
+        "SN": "CC3831630",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_right_fisheye"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.8646710727343956,
+                -0.44356026800797427,
+                -0.23579275777903683
+            ],
+            [
+                0.5020752848459024,
+                0.7782889008447007,
+                0.3770766436268014
+            ],
+            [
+                0.016258669172335927,
+                -0.4444329819743825,
+                0.8956645466970895
+            ]
+        ],
+        "translation_vector": [
+            0.03145392238121546,
+            -0.06329102366421271,
+            0.05407264508531332
+        ]
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b7d1cea050e820047cb5b2d922ad8b76a70c5c
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638858721576119,
+                    -0.2598549015467388,
+                    0.05830485054516901
+                ],
+                [
+                    -0.19372152437729623,
+                    0.5339031321615206,
+                    -0.8230549291882374
+                ],
+                [
+                    0.18274571526549233,
+                    -0.8046259227804264,
+                    -0.5649611738357345
+                ]
+            ],
+            "translation_vector": [
+                0.6428339662348543,
+                0.24008088204699932,
+                0.4701977770064363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638936167110094,
+                    -0.25982542919517787,
+                    0.05830816415658753
+                ],
+                [
+                    -0.19370764326047002,
+                    0.5339073572053835,
+                    -0.8230554555219459
+                ],
+                [
+                    0.18271957915408082,
+                    -0.8046326368383929,
+                    -0.5649600650738518
+                ]
+            ],
+            "translation_vector": [
+                0.6428327658241959,
+                0.24007721542243068,
+                0.47020556222447357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963881834533899,
+                    -0.25987105900692953,
+                    0.05829958615790136
+                ],
+                [
+                    -0.19372544717043538,
+                    0.533897543972612,
+                    -0.8230576308246149
+                ],
+                [
+                    0.1827628522818038,
+                    -0.804624412524645,
+                    -0.5649577812502362
+                ]
+            ],
+            "translation_vector": [
+                0.6428386083835965,
+                0.24008133781469182,
+                0.47020266212793727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638800657125112,
+                    -0.259871175727642,
+                    0.05832830314674171
+                ],
+                [
+                    -0.19374938183611576,
+                    0.5338946527415681,
+                    -0.8230538723632154
+                ],
+                [
+                    0.18274680834468268,
+                    -0.8046262932566235,
+                    -0.5649602926223563
+                ]
+            ],
+            "translation_vector": [
+                0.6428431834390907,
+                0.24008824070978263,
+                0.4701991650798061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638965299550679,
+                    -0.2598175032291662,
+                    0.058295321907862546
+                ],
+                [
+                    -0.19368738062161253,
+                    0.5338873433403819,
+                    -0.8230732064700492
+                ],
+                [
+                    0.18272569093731092,
+                    -0.8046484758182991,
+                    -0.5649355292728285
+                ]
+            ],
+            "translation_vector": [
+                0.6428296708632224,
+                0.24006865019307577,
+                0.47019942405550047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638878141834253,
+                    -0.25984431054985885,
+                    0.05831994464646472
+                ],
+                [
+                    -0.19373064407281643,
+                    0.5339144966354457,
+                    -0.8230454105513563
+                ],
+                [
+                    0.18272580336621821,
+                    -0.8046218021886975,
+                    -0.5649734827642647
+                ]
+            ],
+            "translation_vector": [
+                0.6428360760579919,
+                0.24008503659848,
+                0.47020374548137184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963891844435719,
+                    -0.25982736858044875,
+                    0.05832881592204513
+                ],
+                [
+                    -0.193727192935045,
+                    0.533910672028307,
+                    -0.8230487039123445
+                ],
+                [
+                    0.18270820164353868,
+                    -0.8046298110503003,
+                    -0.5649677691880686
+                ]
+            ],
+            "translation_vector": [
+                0.6428336864468496,
+                0.24008152777218134,
+                0.4702047625653856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638936167110094,
+                    -0.25982542919517787,
+                    0.05830816415658753
+                ],
+                [
+                    -0.19370764326047002,
+                    0.5339073572053835,
+                    -0.8230554555219459
+                ],
+                [
+                    0.18271957915408082,
+                    -0.8046326368383929,
+                    -0.5649600650738518
+                ]
+            ],
+            "translation_vector": [
+                0.6428327658241959,
+                0.24007721542243068,
+                0.47020556222447357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638890526007327,
+                    -0.25984089740252486,
+                    0.05831468351549727
+                ],
+                [
+                    -0.19372152449840774,
+                    0.5339031322536402,
+                    -0.8230549290999752
+                ],
+                [
+                    0.1827289392036053,
+                    -0.8046304452398026,
+                    -0.5649601591003763
+                ]
+            ],
+            "translation_vector": [
+                0.6428362626335898,
+                0.24008088209720913,
+                0.470203273149708
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638873346231098,
+                    -0.2598461957110038,
+                    0.05831947125682766
+                ],
+                [
+                    -0.19372269888453042,
+                    0.533876314119454,
+                    -0.8230720485833061
+                ],
+                [
+                    0.18273675626444383,
+                    -0.8046465284811369,
+                    -0.5649347237630242
+                ]
+            ],
+            "translation_vector": [
+                0.6428387223706428,
+                0.24007073126373024,
+                0.4701996674719723
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638832679576349,
+                    -0.2598570756578652,
+                    0.058338203450675176
+                ],
+                [
+                    -0.19374938195805647,
+                    0.5338946528343166,
+                    -0.8230538722743461
+                ],
+                [
+                    0.18272991747981765,
+                    -0.8046308469760944,
+                    -0.5649592705251875
+                ]
+            ],
+            "translation_vector": [
+                0.6428454955451897,
+                0.2400882407603371,
+                0.47020469903344
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638820186224796,
+                    -0.2598589149177012,
+                    0.05835065135925321
+                ],
+                [
+                    -0.1937669448483523,
+                    0.533920329884036,
+                    -0.8230330810001857
+                ],
+                [
+                    0.18271788434739974,
+                    -0.8046132149513315,
+                    -0.5649882733874156
+                ]
+            ],
+            "translation_vector": [
+                0.6428439434890721,
+                0.2400862922810056,
+                0.4702001026597428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963881787927156,
+                    -0.2598689620578207,
+                    0.058309702977637885
+                ],
+                [
+                    -0.19372826961525327,
+                    0.533877471728745,
+                    -0.8230699865335896
+                ],
+                [
+                    0.18276010629847297,
+                    -0.8046384080688136,
+                    -0.5649387363301058
+                ]
+            ],
+            "translation_vector": [
+                0.6428407001686613,
+                0.24007194049757669,
+                0.4701924824587305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638929665499554,
+                    -0.25982609597004885,
+                    0.05831594026070488
+                ],
+                [
+                    -0.19371088463952602,
+                    0.5338906306017283,
+                    -0.8230655427897962
+                ],
+                [
+                    0.18271957259062133,
+                    -0.8046435200811926,
+                    -0.5649445666467187
+                ]
+            ],
+            "translation_vector": [
+                0.6428325048528009,
+                0.24008256371146616,
+                0.47021488983931337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638892260549257,
+                    -0.259840133610562,
+                    0.05831521980137119
+                ],
+                [
+                    -0.19372152449904467,
+                    0.5339031322564456,
+                    -0.8230549290980057
+                ],
+                [
+                    0.18272802423548204,
+                    -0.8046306918903867,
+                    -0.5649601037480393
+                ]
+            ],
+            "translation_vector": [
+                0.6428361660919828,
+                0.24008088209685446,
+                0.4702037590087788
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638778564252316,
+                    -0.2598802167953269,
+                    0.05832453010110487
+                ],
+                [
+                    -0.19375863516169362,
+                    0.5339257118639068,
+                    -0.8230315458783451
+                ],
+                [
+                    0.18274865031889706,
+                    -0.8046027635604012,
+                    -0.564993206753486
+                ]
+            ],
+            "translation_vector": [
+                0.6428401280165165,
+                0.24008383499248082,
+                0.4701897105735925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963889640789009,
+                    -0.2598381509539547,
+                    0.05831719890791059
+                ],
+                [
+                    -0.19371564636101254,
+                    0.533875040826908,
+                    -0.8230745343752306
+                ],
+                [
+                    0.18273206816147533,
+                    -0.8046499711619317,
+                    -0.5649313366901616
+                ]
+            ],
+            "translation_vector": [
+                0.6428361882876034,
+                0.2400820760847829,
+                0.4702121284755211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963880724768299,
+                    -0.2598585046548401,
+                    0.0583738467011457
+                ],
+                [
+                    -0.19377790694606467,
+                    0.5338824664162514,
+                    -0.8230550618475672
+                ],
+                [
+                    0.18271308436929382,
+                    -0.8046384713719887,
+                    -0.5649538558045325
+                ]
+            ],
+            "translation_vector": [
+                0.6428487350035315,
+                0.24009659013452986,
+                0.4702059937620361
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638639037323503,
+                    -0.2599297157673619,
+                    0.058334534736580235
+                ],
+                [
+                    -0.19378666072905795,
+                    0.5338808260296519,
+                    -0.823054064883576
+                ],
+                [
+                    0.18279251955513875,
+                    -0.8046165586532479,
+                    -0.5649593687476022
+                ]
+            ],
+            "translation_vector": [
+                0.6428512077226144,
+                0.2400905502315919,
+                0.47019312060411383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638972251118846,
+                    -0.25981034823568105,
+                    0.058315712901953524
+                ],
+                [
+                    -0.19370568178129388,
+                    0.5339101510833966,
+                    -0.823054104792479
+                ],
+                [
+                    0.1827026224969227,
+                    -0.8046356526526519,
+                    -0.5649612537271809
+                ]
+            ],
+            "translation_vector": [
+                0.6428315929342707,
+                0.24007698758378246,
+                0.4702058676930555
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638766162171176,
+                    -0.2598794651671171,
+                    0.05834837010827759
+                ],
+                [
+                    -0.19376443659887985,
+                    0.5338636099244203,
+                    -0.8230704642422696
+                ],
+                [
+                    0.1827490405429205,
+                    -0.8046442130425844,
+                    -0.5649340480071301
+                ]
+            ],
+            "translation_vector": [
+                0.6428516294972025,
+                0.2400817565915166,
+                0.4701977942363351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638915354894496,
+                    -0.2598356058296298,
+                    0.058297219101262406
+                ],
+                [
+                    -0.19371139704399407,
+                    0.5339381728454232,
+                    -0.8230345814324908
+                ],
+                [
+                    0.1827265784363496,
+                    -0.8046089022137652,
+                    -0.5649916034874362
+                ]
+            ],
+            "translation_vector": [
+                0.6428308561504318,
+                0.2400783148891638,
+                0.4701979949069207
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638834373920658,
+                    -0.25985722158914504,
+                    0.058334753871304094
+                ],
+                [
+                    -0.19375011952613183,
+                    0.5339104857559945,
+                    -0.8230434280057207
+                ],
+                [
+                    0.18272824167288776,
+                    -0.8046202940441959,
+                    -0.564974842012781
+                ]
+            ],
+            "translation_vector": [
+                0.6428382580433537,
+                0.24008322322162765,
+                0.4702006015591936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963891016060464,
+                    -0.25983021055878863,
+                    0.058329845181539546
+                ],
+                [
+                    -0.19373064419475478,
+                    0.5339144967281967,
+                    -0.8230454104624861
+                ],
+                [
+                    0.18270891236557688,
+                    -0.8046263554373871,
+                    -0.5649724608135657
+                ]
+            ],
+            "translation_vector": [
+                0.6428383880805651,
+                0.2400850366490329,
+                0.4702092793065699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638798579496087,
+                    -0.25987216894880794,
+                    0.0583273113119753
+                ],
+                [
+                    -0.1937523258726848,
+                    0.5339087221966822,
+                    -0.8230440526370574
+                ],
+                [
+                    0.18274478284746398,
+                    -0.8046166367706727,
+                    -0.564974700472406
+                ]
+            ],
+            "translation_vector": [
+                0.6428431722499899,
+                0.24008764279956074,
+                0.47019497317836656
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638917112019374,
+                    -0.2598332841408874,
+                    0.058304661295322885
+                ],
+                [
+                    -0.19370322271035015,
+                    0.5338803251666381,
+                    -0.8230740306385506
+                ],
+                [
+                    0.18273431694081427,
+                    -0.8046480366300076,
+                    -0.5649333647074214
+                ]
+            ],
+            "translation_vector": [
+                0.6428365404418668,
+                0.24007254461215968,
+                0.47020281131357267
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638925518247706,
+                    -0.25982807858368157,
+                    0.0583139615893528
+                ],
+                [
+                    -0.19371676271317204,
+                    0.5339187217243508,
+                    -0.8230459370145534
+                ],
+                [
+                    0.18271552857012702,
+                    -0.8046242403580369,
+                    -0.5649733333951186
+                ]
+            ],
+            "translation_vector": [
+                0.6428324827278091,
+                0.24008136986393866,
+                0.4702065203523556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963891181875046,
+                    -0.2598277493918222,
+                    0.05833806775603372
+                ],
+                [
+                    -0.19373623829620834,
+                    0.5339147109200596,
+                    -0.8230439547399544
+                ],
+                [
+                    0.18270210582902943,
+                    -0.8046270080659298,
+                    -0.5649737325013514
+                ]
+            ],
+            "translation_vector": [
+                0.6428370575580897,
+                0.2400795564713457,
+                0.47020838683452276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638936167110094,
+                    -0.25982542919517787,
+                    0.05830816415658753
+                ],
+                [
+                    -0.19370764326047002,
+                    0.5339073572053835,
+                    -0.8230554555219459
+                ],
+                [
+                    0.18271957915408082,
+                    -0.8046326368383929,
+                    -0.5649600650738518
+                ]
+            ],
+            "translation_vector": [
+                0.6428327658241959,
+                0.24007721542243068,
+                0.4702054859305283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638928079654892,
+                    -0.25983196369459494,
+                    0.05829241284263061
+                ],
+                [
+                    -0.1936993333822451,
+                    0.5339127391671366,
+                    -0.8230539199847845
+                ],
+                [
+                    0.18273265444270992,
+                    -0.804626955549997,
+                    -0.5649639275233997
+                ]
+            ],
+            "translation_vector": [
+                0.6428311503828601,
+                0.2400747582058852,
+                0.4702010761469554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9641673368785509,
+                    -0.2586810444923528,
+                    0.058868189345931764
+                ],
+                [
+                    -0.19369045283345038,
+                    0.5347523187756512,
+                    -0.8225107695618566
+                ],
+                [
+                    0.18128804422160874,
+                    -0.8044402244942815,
+                    -0.5656947677307033
+                ]
+            ],
+            "translation_vector": [
+                0.6427288980821234,
+                0.2400380096879734,
+                0.4699823451963139
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9656861221120913,
+                    -0.2519818424124698,
+                    0.06289248488117716
+                ],
+                [
+                    -0.19481015927515521,
+                    0.5426540847434379,
+                    -0.8170529641060309
+                ],
+                [
+                    0.1717536474235713,
+                    -0.801268803464655,
+                    -0.5731221415989968
+                ]
+            ],
+            "translation_vector": [
+                0.6420609052975172,
+                0.2401062221449892,
+                0.4683585031287375
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9657650432924549,
+                    -0.25066028544379293,
+                    0.06683788189013028
+                ],
+                [
+                    -0.2003354958481111,
+                    0.556944773844283,
+                    -0.8060261831918566
+                ],
+                [
+                    0.1648137441405121,
+                    -0.7918219119150322,
+                    -0.5880939461970417
+                ]
+            ],
+            "translation_vector": [
+                0.6422020677961804,
+                0.24005805421266674,
+                0.46421880275732297
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9612145126091414,
+                    -0.26634857729351763,
+                    0.07158977666741133
+                ],
+                [
+                    -0.2164865649801444,
+                    0.5678068203278012,
+                    -0.794184476033327
+                ],
+                [
+                    0.17088074184257418,
+                    -0.7788798688905443,
+                    -0.6034450446431558
+                ]
+            ],
+            "translation_vector": [
+                0.6446028255232183,
+                0.24021528786058055,
+                0.45533502115280555
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9573235923392539,
+                    -0.2772745453388803,
+                    0.08154977656488992
+                ],
+                [
+                    -0.2333205952590026,
+                    0.5749118800981555,
+                    -0.7842434761921766
+                ],
+                [
+                    0.17056681792966327,
+                    -0.7698020243082774,
+                    -0.6150705683027174
+                ]
+            ],
+            "translation_vector": [
+                0.6471073854233349,
+                0.241556863907157,
+                0.4490096829471297
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9468265243482559,
+                    -0.3056686766815033,
+                    0.10043003976092416
+                ],
+                [
+                    -0.27034381554384673,
+                    0.5865687019345628,
+                    -0.7634470376574903
+                ],
+                [
+                    0.1744527276593768,
+                    -0.7500025453334019,
+                    -0.638014441690486
+                ]
+            ],
+            "translation_vector": [
+                0.653094202317644,
+                0.24366833812525734,
+                0.4364742139760802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9359228084460943,
+                    -0.3348654104239599,
+                    0.10914968406719605
+                ],
+                [
+                    -0.2962654697792881,
+                    0.5809284268461032,
+                    -0.7581219785091118
+                ],
+                [
+                    0.19046067322897262,
+                    -0.7418809336973861,
+                    -0.6429132228920648
+                ]
+            ],
+            "translation_vector": [
+                0.6579371551116757,
+                0.24510256142869996,
+                0.42891711121125736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9223189438361187,
+                    -0.3684595452143974,
+                    0.11647029398703265
+                ],
+                [
+                    -0.32391338603153697,
+                    0.5727925481302577,
+                    -0.7529865969298732
+                ],
+                [
+                    0.21073178258300507,
+                    -0.7322200901005422,
+                    -0.6476463969347341
+                ]
+            ],
+            "translation_vector": [
+                0.6616838070178639,
+                0.24683762122283648,
+                0.4180317198238821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9152592795188539,
+                    -0.3840725664532735,
+                    0.12160886050212327
+                ],
+                [
+                    -0.338924133986975,
+                    0.5708911538011403,
+                    -0.7478059386717801
+                ],
+                [
+                    0.21778632339017046,
+                    -0.7256525023794786,
+                    -0.6526848880850494
+                ]
+            ],
+            "translation_vector": [
+                0.6633069916249262,
+                0.2470494265047654,
+                0.4111913880607747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9039153959713295,
+                    -0.40847812537005307,
+                    0.1268171046040797
+                ],
+                [
+                    -0.35916950471188236,
+                    0.5639339350705126,
+                    -0.743623415285525
+                ],
+                [
+                    0.23223742982348017,
+                    -0.7177214905310099,
+                    -0.6564614521957325
+                ]
+            ],
+            "translation_vector": [
+                0.6656979601935713,
+                0.24524381944651436,
+                0.4006539217025504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8981034155243809,
+                    -0.42076575080348533,
+                    0.12793137994339307
+                ],
+                [
+                    -0.3709666552849587,
+                    0.5685668738573478,
+                    -0.7342448165419853
+                ],
+                [
+                    0.23620752674318402,
+                    -0.7068860536910191,
+                    -0.6667219145993373
+                ]
+            ],
+            "translation_vector": [
+                0.6658557799371804,
+                0.2432656143500105,
+                0.3906842684283108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8932349082769019,
+                    -0.43195949084260743,
+                    0.12466914977872438
+                ],
+                [
+                    -0.3816406305462142,
+                    0.5819183149537462,
+                    -0.718137524320851
+                ],
+                [
+                    0.23765905779465377,
+                    -0.6890443185981496,
+                    -0.684643045137953
+                ]
+            ],
+            "translation_vector": [
+                0.6657692676989712,
+                0.23803253033925492,
+                0.37679072233082556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8878144185448702,
+                    -0.44447197811519873,
+                    0.11929048115502146
+                ],
+                [
+                    -0.3881099607696816,
+                    0.5838512510781465,
+                    -0.7130837082459811
+                ],
+                [
+                    0.24729782970173905,
+                    -0.6793838217714974,
+                    -0.6908555609821522
+                ]
+            ],
+            "translation_vector": [
+                0.6664974115550228,
+                0.2336292836190759,
+                0.3682933038673759
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8819383946867578,
+                    -0.4559579223300893,
+                    0.1195284110233757
+                ],
+                [
+                    -0.39877990122135853,
+                    0.5865427009539742,
+                    -0.7049413098545866
+                ],
+                [
+                    0.25131505796356135,
+                    -0.6693803351025822,
+                    -0.699121383322472
+                ]
+            ],
+            "translation_vector": [
+                0.6681566095721607,
+                0.23127280457202365,
+                0.36069869947340566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8774160683038457,
+                    -0.4649434047143606,
+                    0.11818914288055199
+                ],
+                [
+                    -0.4072591516666683,
+                    0.5917048157916033,
+                    -0.6957193359054861
+                ],
+                [
+                    0.2535370317448061,
+                    -0.6585689344188985,
+                    -0.7085237696453027
+                ]
+            ],
+            "translation_vector": [
+                0.6700056357443235,
+                0.2242701728261103,
+                0.3491084704963737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8740560565229543,
+                    -0.4721823799118457,
+                    0.1143232704060194
+                ],
+                [
+                    -0.4107029789355871,
+                    0.5924515830093134,
+                    -0.693054243824532
+                ],
+                [
+                    0.2595169997302239,
+                    -0.6527211670311792,
+                    -0.7117626043565922
+                ]
+            ],
+            "translation_vector": [
+                0.6712028993535486,
+                0.2181293140184256,
+                0.340970180533449
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8714379190308424,
+                    -0.4770516398418766,
+                    0.11409507526344663
+                ],
+                [
+                    -0.41752864929716715,
+                    0.5993653023404119,
+                    -0.6829575838706751
+                ],
+                [
+                    0.2574214060471236,
+                    -0.6427930983407986,
+                    -0.7214923786389975
+                ]
+            ],
+            "translation_vector": [
+                0.6726699427136444,
+                0.2132366295667811,
+                0.331876393626202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8701395052693698,
+                    -0.4804269644255315,
+                    0.10975961562635687
+                ],
+                [
+                    -0.4186907405549198,
+                    0.6032382478735712,
+                    -0.6788237474308016
+                ],
+                [
+                    0.2599140341404236,
+                    -0.63662669450416,
+                    -0.7260517520821487
+                ]
+            ],
+            "translation_vector": [
+                0.67397915735764,
+                0.20586310693374865,
+                0.32336869568721816
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8687219756253662,
+                    -0.4828918425063335,
+                    0.11017076520747064
+                ],
+                [
+                    -0.42212957214487623,
+                    0.6054832799153599,
+                    -0.6746826083898432
+                ],
+                [
+                    0.2590921716037458,
+                    -0.6326179464604028,
+                    -0.7298395580056473
+                ]
+            ],
+            "translation_vector": [
+                0.6757498093215109,
+                0.20139120966382557,
+                0.31766771866679044
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8707827583737684,
+                    -0.47899493465059617,
+                    0.11091095661855355
+                ],
+                [
+                    -0.4219305934047882,
+                    0.6122023060852995,
+                    -0.6687173623982892
+                ],
+                [
+                    0.25241228588968245,
+                    -0.6291042751427721,
+                    -0.7351978297907528
+                ]
+            ],
+            "translation_vector": [
+                0.6775673962659741,
+                0.19460541279255292,
+                0.310805348457719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8695870380283313,
+                    -0.4812419527205161,
+                    0.1105647603663045
+                ],
+                [
+                    -0.42536192282393387,
+                    0.6163599126747689,
+                    -0.6626972858395282
+                ],
+                [
+                    0.25077004985571816,
+                    -0.6233030089685886,
+                    -0.7406805931749965
+                ]
+            ],
+            "translation_vector": [
+                0.6806423389529618,
+                0.18810094560459747,
+                0.3035819988561016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.867322713680908,
+                    -0.4855822206075324,
+                    0.1093673505349935
+                ],
+                [
+                    -0.4283409134091806,
+                    0.6162272208846277,
+                    -0.6608994432896715
+                ],
+                [
+                    0.25352588079518645,
+                    -0.6200596094495002,
+                    -0.742462597371988
+                ]
+            ],
+            "translation_vector": [
+                0.6826829464785613,
+                0.18505749536838464,
+                0.2996035129981491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.865172093478286,
+                    -0.4894114355193888,
+                    0.10933295683027812
+                ],
+                [
+                    -0.4317818615212984,
+                    0.6161344920563107,
+                    -0.6587432821363075
+                ],
+                [
+                    0.25503268952744584,
+                    -0.6171342920964317,
+                    -0.7443813490349113
+                ]
+            ],
+            "translation_vector": [
+                0.6852040976751337,
+                0.1816318055472091,
+                0.2955604632103233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8637207807072024,
+                    -0.49205887844315915,
+                    0.10892416224053116
+                ],
+                [
+                    -0.43408044911277704,
+                    0.6165488040977002,
+                    -0.6568422457970758
+                ],
+                [
+                    0.2560479968142515,
+                    -0.6146101466059252,
+                    -0.7461191533638933
+                ]
+            ],
+            "translation_vector": [
+                0.6881792292293692,
+                0.1769622644184596,
+                0.2910233990513463
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8637425679701645,
+                    -0.491843569808306,
+                    0.10972091466319728
+                ],
+                [
+                    -0.43503382162879783,
+                    0.6178654328937497,
+                    -0.6549716641764459
+                ],
+                [
+                    0.2543508409959554,
+                    -0.6134592159819934,
+                    -0.7476452634849022
+                ]
+            ],
+            "translation_vector": [
+                0.6894922758845824,
+                0.1750874550551852,
+                0.2893291028651783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.862518440600103,
+                    -0.4937466373715032,
+                    0.11079800408446229
+                ],
+                [
+                    -0.43816403718948843,
+                    0.619197098447157,
+                    -0.6516189298880374
+                ],
+                [
+                    0.2531288528370002,
+                    -0.6105810440547231,
+                    -0.7504109357561823
+                ]
+            ],
+            "translation_vector": [
+                0.6914711740702313,
+                0.17304581657178747,
+                0.2866504692975308
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8619676912053694,
+                    -0.4946678028686407,
+                    0.11097506081636886
+                ],
+                [
+                    -0.439338787795671,
+                    0.6196427263658444,
+                    -0.6504031989467257
+                ],
+                [
+                    0.2529686321588418,
+                    -0.60938219244331,
+                    -0.7514387630916238
+                ]
+            ],
+            "translation_vector": [
+                0.6933114209160554,
+                0.1704826943978954,
+                0.2846280437620198
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8628934389137786,
+                    -0.49291626435265,
+                    0.11157270910120319
+                ],
+                [
+                    -0.4389244287001664,
+                    0.6214922256223473,
+                    -0.6489166043346511
+                ],
+                [
+                    0.25051997718702124,
+                    -0.6089178678833543,
+                    -0.7526345535534523
+                ]
+            ],
+            "translation_vector": [
+                0.6940144954536617,
+                0.1693432578341616,
+                0.28394386519737114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8635353739010558,
+                    -0.49160491075372664,
+                    0.11238892180452827
+                ],
+                [
+                    -0.4387338141549398,
+                    0.6225031571488555,
+                    -0.6480759675044017
+                ],
+                [
+                    0.24863486951476155,
+                    -0.6089453432472639,
+                    -0.7532371941154059
+                ]
+            ],
+            "translation_vector": [
+                0.6946306389235617,
+                0.1686439838389528,
+                0.283829871573009
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8639369874723122,
+                    -0.4915126531815188,
+                    0.10967312086254428
+                ],
+                [
+                    -0.43722457702925205,
+                    0.6240002639241269,
+                    -0.6476560351484513
+                ],
+                [
+                    0.2498950798212279,
+                    -0.6074857878050188,
+                    -0.7539983200883529
+                ]
+            ],
+            "translation_vector": [
+                0.6943225860667017,
+                0.16791347650837754,
+                0.28326984800841226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8637529822966817,
+                    -0.49236402206442037,
+                    0.10727746897711299
+                ],
+                [
+                    -0.43633897822229356,
+                    0.6242852411434544,
+                    -0.6479785750890101
+                ],
+                [
+                    0.25206959685276054,
+                    -0.6065027678972341,
+                    -0.7540658531424699
+                ]
+            ],
+            "translation_vector": [
+                0.694003525210298,
+                0.16769564722728134,
+                0.28301755547183366
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8641595618484266,
+                    -0.4919771328689391,
+                    0.10576744489678169
+                ],
+                [
+                    -0.43498509349692827,
+                    0.6246215509362885,
+                    -0.648564481405985
+                ],
+                [
+                    0.2530142685727506,
+                    -0.6064704599896058,
+                    -0.7537754049175338
+                ]
+            ],
+            "translation_vector": [
+                0.6935833932456649,
+                0.16730604708808014,
+                0.2831443363248749
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8651112091950898,
+                    -0.4906835844209791,
+                    0.10398180468134795
+                ],
+                [
+                    -0.43305139608324505,
+                    0.626088206904857,
+                    -0.648444327236359
+                ],
+                [
+                    0.2530792051421106,
+                    -0.6060059217156558,
+                    -0.7541271370068819
+                ]
+            ],
+            "translation_vector": [
+                0.6926461518972928,
+                0.16701340910641035,
+                0.28336209958549174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8655157997187459,
+                    -0.49055008420040885,
+                    0.1012077829427742
+                ],
+                [
+                    -0.4314983637822805,
+                    0.6276380808887799,
+                    -0.6479811737014157
+                ],
+                [
+                    0.25434536066229807,
+                    -0.6045089365007117,
+                    -0.7549022342001276
+                ]
+            ],
+            "translation_vector": [
+                0.6913625137573647,
+                0.16695313207742526,
+                0.2831274253215574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8656424890311781,
+                    -0.4907923662287977,
+                    0.09892388202777166
+                ],
+                [
+                    -0.4303832695058497,
+                    0.6285088969448094,
+                    -0.6478786983615638
+                ],
+                [
+                    0.255799379423332,
+                    -0.6034065128193074,
+                    -0.7552928291556074
+                ]
+            ],
+            "translation_vector": [
+                0.6902267577873064,
+                0.1669009716048225,
+                0.2829699323841939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8653853206636206,
+                    -0.49151598032801225,
+                    0.09757196247957584
+                ],
+                [
+                    -0.4303096905528708,
+                    0.6291187030552097,
+                    -0.6473354831016325
+                ],
+                [
+                    0.25679138808810387,
+                    -0.6021807856020686,
+                    -0.7559341799756515
+                ]
+            ],
+            "translation_vector": [
+                0.6893462923577356,
+                0.16718473978570686,
+                0.28300857584392936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8649957351753939,
+                    -0.4923269236030444,
+                    0.09693595011110423
+                ],
+                [
+                    -0.43078329101752544,
+                    0.629556118751733,
+                    -0.6465948109305893
+                ],
+                [
+                    0.25730941356369075,
+                    -0.601060141448272,
+                    -0.7566495701800758
+                ]
+            ],
+            "translation_vector": [
+                0.6886881977294391,
+                0.16759859548729134,
+                0.2830893588012885
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8649429891230903,
+                    -0.4925565280769514,
+                    0.09623768604654624
+                ],
+                [
+                    -0.43090194303091184,
+                    0.6305454829777324,
+                    -0.6455508573215313
+                ],
+                [
+                    0.2572880507505138,
+                    -0.5998336940729143,
+                    -0.7576294598257405
+                ]
+            ],
+            "translation_vector": [
+                0.6878450626672921,
+                0.16813254042922834,
+                0.2831963449195933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8643296848613706,
+                    -0.49369889767498976,
+                    0.09589366142735564
+                ],
+                [
+                    -0.43197304058708474,
+                    0.6311256054973189,
+                    -0.6442668409064617
+                ],
+                [
+                    0.25755288403237336,
+                    -0.5982824320671162,
+                    -0.7587652096705964
+                ]
+            ],
+            "translation_vector": [
+                0.6871328699488027,
+                0.16897332079052735,
+                0.2836434929763738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8646030207157407,
+                    -0.4931243729110525,
+                    0.09638448739448861
+                ],
+                [
+                    -0.43219843310940914,
+                    0.6320637523119711,
+                    -0.6431950928226081
+                ],
+                [
+                    0.2562540360403883,
+                    -0.5977656445919196,
+                    -0.7596118108340726
+                ]
+            ],
+            "translation_vector": [
+                0.6866203178173734,
+                0.16963055050393683,
+                0.2844248803187975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8645777491728278,
+                    -0.4929932076103002,
+                    0.09727801851063143
+                ],
+                [
+                    -0.43300581479385797,
+                    0.6326884848221962,
+                    -0.6420367945282429
+                ],
+                [
+                    0.2549730966003166,
+                    -0.5972126743660935,
+                    -0.7604773116842767
+                ]
+            ],
+            "translation_vector": [
+                0.6863824830009123,
+                0.1702243929896343,
+                0.28497315409555457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8647905181191425,
+                    -0.49225571187743583,
+                    0.09910435860881497
+                ],
+                [
+                    -0.4342261890634689,
+                    0.6340156632543537,
+                    -0.6398998011248003
+                ],
+                [
+                    0.25216061647815285,
+                    -0.5964129885173374,
+                    -0.7620410557346481
+                ]
+            ],
+            "translation_vector": [
+                0.6861220037945961,
+                0.17080303233290184,
+                0.28594267109300026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.86490399283354,
+                    -0.4918908440179271,
+                    0.09992237363038889
+                ],
+                [
+                    -0.434754035398859,
+                    0.6346509982685336,
+                    -0.6389108224949408
+                ],
+                [
+                    0.25085854955533665,
+                    -0.5960381766028795,
+                    -0.7627637118707913
+                ]
+            ],
+            "translation_vector": [
+                0.6859772122759683,
+                0.17101452497677605,
+                0.2864050621610293
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8649409959516227,
+                    -0.49167680326867114,
+                    0.10065284223366902
+                ],
+                [
+                    -0.4352679827563052,
+                    0.6350723466921171,
+                    -0.6381417535737844
+                ],
+                [
+                    0.24983766071085467,
+                    -0.5957659234921617,
+                    -0.763311278376037
+                ]
+            ],
+            "translation_vector": [
+                0.6858319846317701,
+                0.17115509933980658,
+                0.28694917269026077
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8649599897559859,
+                    -0.4917137172055579,
+                    0.10030870567013506
+                ],
+                [
+                    -0.4349976524281672,
+                    0.634950183671372,
+                    -0.6384475754810843
+                ],
+                [
+                    0.2502423994915901,
+                    -0.5958656598324694,
+                    -0.7631008170150967
+                ]
+            ],
+            "translation_vector": [
+                0.6855060174472095,
+                0.1709737830886479,
+                0.2877587469573999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8648763884229683,
+                    -0.4919782592426712,
+                    0.09973076346340892
+                ],
+                [
+                    -0.4346140238412499,
+                    0.6344584847931083,
+                    -0.6391972163225926
+                ],
+                [
+                    0.25119610472489584,
+                    -0.5961709683526907,
+                    -0.7625488138240429
+                ]
+            ],
+            "translation_vector": [
+                0.6851859111791047,
+                0.17075742572164287,
+                0.28864803801234545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8656735559714017,
+                    -0.49057435673358096,
+                    0.09973011083550398
+                ],
+                [
+                    -0.43320381657417684,
+                    0.6342578942041516,
+                    -0.6403525411406458
+                ],
+                [
+                    0.25088592586551267,
+                    -0.597539726005852,
+                    -0.7615789703290499
+                ]
+            ],
+            "translation_vector": [
+                0.6846600513413401,
+                0.17024926202067991,
+                0.28988496815080134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8667499801015662,
+                    -0.48899421336769555,
+                    0.09812813708026377
+                ],
+                [
+                    -0.4298285358008833,
+                    0.6325912897173005,
+                    -0.6442636804795623
+                ],
+                [
+                    0.2529662068443196,
+                    -0.6005938057179006,
+                    -0.7584821545218356
+                ]
+            ],
+            "translation_vector": [
+                0.6837696744710502,
+                0.16912332835271626,
+                0.29178284693701617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8687266857189373,
+                    -0.48611267223127214,
+                    0.0949126725783359
+                ],
+                [
+                    -0.42427766756819685,
+                    0.6315081399103736,
+                    -0.6489883897496401
+                ],
+                [
+                    0.2555433550744006,
+                    -0.6040628602414752,
+                    -0.7548547241384974
+                ]
+            ],
+            "translation_vector": [
+                0.6826485742080761,
+                0.16762137448080416,
+                0.29379522558808374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8729857615786812,
+                    -0.4793971961491281,
+                    0.08985648783056373
+                ],
+                [
+                    -0.4139971583601171,
+                    0.6308998672278816,
+                    -0.6561796327238371
+                ],
+                [
+                    0.25788022985610565,
+                    -0.6100358070279123,
+                    -0.7492356780033678
+                ]
+            ],
+            "translation_vector": [
+                0.680807258374348,
+                0.16514977486767612,
+                0.2968236262162432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8796846163097564,
+                    -0.468200524313482,
+                    0.08332613551903859
+                ],
+                [
+                    -0.398688811700057,
+                    0.630569915655018,
+                    -0.6659045073402192
+                ],
+                [
+                    0.25923388523330265,
+                    -0.6190071489921615,
+                    -0.7413689649853457
+                ]
+            ],
+            "translation_vector": [
+                0.6787457284998487,
+                0.16113452795784408,
+                0.3011286708500921
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8843992627739008,
+                    -0.459846513593209,
+                    0.07986944310029553
+                ],
+                [
+                    -0.3889022428580431,
+                    0.6314374703497765,
+                    -0.6708515234671968
+                ],
+                [
+                    0.2580561750955872,
+                    -0.6243619983426649,
+                    -0.7372781737720097
+                ]
+            ],
+            "translation_vector": [
+                0.677843536154667,
+                0.15835306525671805,
+                0.3036891506979108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8914325336979207,
+                    -0.44706286163113834,
+                    0.07404617218387083
+                ],
+                [
+                    -0.37383968517894095,
+                    0.6331741510464616,
+                    -0.6777421222204678
+                ],
+                [
+                    0.25610921039708034,
+                    -0.6318427749027212,
+                    -0.7315618771867582
+                ]
+            ],
+            "translation_vector": [
+                0.6767072149475274,
+                0.1538699736816948,
+                0.3073985096518492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8994843297833012,
+                    -0.43178650888521114,
+                    0.06699515817584803
+                ],
+                [
+                    -0.355677700518898,
+                    0.6344575638283859,
+                    -0.6862630494602917
+                ],
+                [
+                    0.2538135414588324,
+                    -0.6411115429047205,
+                    -0.7242614691714965
+                ]
+            ],
+            "translation_vector": [
+                0.6761359618122902,
+                0.14782266728657895,
+                0.3118291509288226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9057153397421144,
+                    -0.4195090177715914,
+                    0.06076106783246492
+                ],
+                [
+                    -0.34062725170054164,
+                    0.6349829808307909,
+                    -0.6933755760438783
+                ],
+                [
+                    0.2522950628822581,
+                    -0.6486977709716282,
+                    -0.7180100300007509
+                ]
+            ],
+            "translation_vector": [
+                0.675865329344667,
+                0.1418147499130918,
+                0.3146699560541122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9107093699080683,
+                    -0.40953445203096406,
+                    0.05375849850346857
+                ],
+                [
+                    -0.3277587352497165,
+                    0.6373091662266026,
+                    -0.6974318877933952
+                ],
+                [
+                    0.2513616021375491,
+                    -0.6527775725645381,
+                    -0.7146319232497201
+                ]
+            ],
+            "translation_vector": [
+                0.6750738096525297,
+                0.13681339790403746,
+                0.31588171433505174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9173764040933341,
+                    -0.3954780956758594,
+                    0.044917803300915896
+                ],
+                [
+                    -0.31093370859849806,
+                    0.641624027196329,
+                    -0.7011696204068948
+                ],
+                [
+                    0.2484768843775378,
+                    -0.6572029241908168,
+                    -0.7115782138072185
+                ]
+            ],
+            "translation_vector": [
+                0.6747447281506398,
+                0.1295515139622092,
+                0.31680976619145174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9212107585643721,
+                    -0.3866006218178623,
+                    0.0437115261149387
+                ],
+                [
+                    -0.303124674427106,
+                    0.6427521743821375,
+                    -0.7035517565044495
+                ],
+                [
+                    0.24389786808973093,
+                    -0.6613694894210629,
+                    -0.7092984057533244
+                ]
+            ],
+            "translation_vector": [
+                0.6759867686440971,
+                0.12466687429022276,
+                0.31745592977257187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9244012154281227,
+                    -0.3789649674218041,
+                    0.043219745279225556
+                ],
+                [
+                    -0.2971758291570175,
+                    0.6445556658609848,
+                    -0.7044391529233324
+                ],
+                [
+                    0.23910022894144048,
+                    -0.6640282727967944,
+                    -0.7084472693480137
+                ]
+            ],
+            "translation_vector": [
+                0.677178135914103,
+                0.1208640391817073,
+                0.3176570499636037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9305426863019497,
+                    -0.3638782447327597,
+                    0.041023553967902596
+                ],
+                [
+                    -0.2841972649636376,
+                    0.6470072462929244,
+                    -0.7075404849417701
+                ],
+                [
+                    0.2309160530520551,
+                    -0.670055405361865,
+                    -0.7054810629550644
+                ]
+            ],
+            "translation_vector": [
+                0.6790375802120008,
+                0.1131719263802929,
+                0.31849114845120435
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9338070136331292,
+                    -0.3556208121471868,
+                    0.03922115828673046
+                ],
+                [
+                    -0.2766565553201339,
+                    0.6482173925782013,
+                    -0.709419031572678
+                ],
+                [
+                    0.22686033520202514,
+                    -0.6733112578346616,
+                    -0.703694776437293
+                ]
+            ],
+            "translation_vector": [
+                0.679761579509136,
+                0.10897827631134316,
+                0.31903257363034027
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9361815588542383,
+                    -0.34942504341144576,
+                    0.038291355397246006
+                ],
+                [
+                    -0.27128270302143803,
+                    0.648924874679793,
+                    -0.7108461170064853
+                ],
+                [
+                    0.2235392222913714,
+                    -0.675868808319133,
+                    -0.70230447103706
+                ]
+            ],
+            "translation_vector": [
+                0.681046687707203,
+                0.10494088967998452,
+                0.31889945119916113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9404164178964508,
+                    -0.3379031493728157,
+                    0.037926542087840055
+                ],
+                [
+                    -0.2627993329244312,
+                    0.6515179921206299,
+                    -0.7116606048936369
+                ],
+                [
+                    0.21576253512897464,
+                    -0.6792243867729101,
+                    -0.7014989385934113
+                ]
+            ],
+            "translation_vector": [
+                0.6822684905835827,
+                0.09955159294873661,
+                0.31867099438532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9423550993604112,
+                    -0.332447741202484,
+                    0.038017970471814655
+                ],
+                [
+                    -0.2591345103656155,
+                    0.6531781466872132,
+                    -0.7114826872298653
+                ],
+                [
+                    0.21169830478065296,
+                    -0.6803211065810203,
+                    -0.7016744399601386
+                ]
+            ],
+            "translation_vector": [
+                0.6833148801737357,
+                0.09654198086472937,
+                0.318151171312198
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9450296219246108,
+                    -0.3248442814126004,
+                    0.03735246335328571
+                ],
+                [
+                    -0.25316963481268656,
+                    0.6546093660558847,
+                    -0.7123143364279031
+                ],
+                [
+                    0.20693996640049533,
+                    -0.6826146575524468,
+                    -0.7008659498083196
+                ]
+            ],
+            "translation_vector": [
+                0.6840693290074703,
+                0.09274297553265448,
+                0.3179936024568521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9485813276903661,
+                    -0.31482546118356547,
+                    0.032838906007018574
+                ],
+                [
+                    -0.24278169520756362,
+                    0.6570695696789697,
+                    -0.7136642271222761
+                ],
+                [
+                    0.2031022235952234,
+                    -0.6849412453579133,
+                    -0.6997177839516635
+                ]
+            ],
+            "translation_vector": [
+                0.6838219238552409,
+                0.08836447429322881,
+                0.31792667833672394
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9505235060727348,
+                    -0.309290126211618,
+                    0.02906341740397565
+                ],
+                [
+                    -0.23591923285892624,
+                    0.6578245228166495,
+                    -0.7152684899730338
+                ],
+                [
+                    0.2021068528537615,
+                    -0.6867361320107234,
+                    -0.6982451611149906
+                ]
+            ],
+            "translation_vector": [
+                0.6835824311500568,
+                0.08583460218031007,
+                0.31828259920761925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9521853981293331,
+                    -0.3044655140221203,
+                    0.025371605399136635
+                ],
+                [
+                    -0.22927196518132942,
+                    0.6571925153491338,
+                    -0.7180058243154925
+                ],
+                [
+                    0.2019339832003883,
+                    -0.6894916595146926,
+                    -0.695574523605128
+                ]
+            ],
+            "translation_vector": [
+                0.6833396358381362,
+                0.0833156381106817,
+                0.3190717163790146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9542962565128558,
+                    -0.2981391687211638,
+                    0.02077717208389391
+                ],
+                [
+                    -0.221158464579347,
+                    0.6577117261353187,
+                    -0.7200723705635467
+                ],
+                [
+                    0.20101638826338514,
+                    -0.6917574151235052,
+                    -0.6935878389008786
+                ]
+            ],
+            "translation_vector": [
+                0.6825215658853736,
+                0.08098051212116948,
+                0.3197239546130165
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9562612996387632,
+                    -0.2920327569773569,
+                    0.016768889807852252
+                ],
+                [
+                    -0.21402081309204168,
+                    0.6594301246910151,
+                    -0.720657340359074
+                ],
+                [
+                    0.19939763884410774,
+                    -0.6927256163173099,
+                    -0.6930885961557861
+                ]
+            ],
+            "translation_vector": [
+                0.6815214643865476,
+                0.07949505348834246,
+                0.3199928914961819
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9587581512470615,
+                    -0.2838360099189295,
+                    0.014829932252661526
+                ],
+                [
+                    -0.20719005391003262,
+                    0.6622359476032692,
+                    -0.7200804338841313
+                ],
+                [
+                    0.19456384293612963,
+                    -0.6934556000028426,
+                    -0.6937321110101676
+                ]
+            ],
+            "translation_vector": [
+                0.6805235660841177,
+                0.0783209521188706,
+                0.3203023336914637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9604890151421815,
+                    -0.2781112637303953,
+                    0.010722722484753673
+                ],
+                [
+                    -0.20037273543735495,
+                    0.6642439827465237,
+                    -0.7201601893178962
+                ],
+                [
+                    0.19316215645036225,
+                    -0.6938544922181588,
+                    -0.6937249634719277
+                ]
+            ],
+            "translation_vector": [
+                0.679593877398735,
+                0.07767114068084803,
+                0.32105125035793525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9609646830056774,
+                    -0.2764976557296933,
+                    0.009794099845429569
+                ],
+                [
+                    -0.198751291375532,
+                    0.6652660080364803,
+                    -0.7196659382850938
+                ],
+                [
+                    0.19247026313785878,
+                    -0.6935201402462587,
+                    -0.6942514046658125
+                ]
+            ],
+            "translation_vector": [
+                0.6795490726024538,
+                0.07839982204153242,
+                0.321691645766445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9613873747895931,
+                    -0.27502926161613794,
+                    0.009655094513102234
+                ],
+                [
+                    -0.19769162687731376,
+                    0.6657897003708476,
+                    -0.7194734849476375
+                ],
+                [
+                    0.1914479988346076,
+                    -0.6936014562664783,
+                    -0.6944527943692395
+                ]
+            ],
+            "translation_vector": [
+                0.6794040195249068,
+                0.08000588322306985,
+                0.3228043602902072
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9624833887544199,
+                    -0.2711894536403386,
+                    0.00905574988959836
+                ],
+                [
+                    -0.19440200473888108,
+                    0.6659041176084232,
+                    -0.720263539758644
+                ],
+                [
+                    0.18929761468468737,
+                    -0.6950021484761052,
+                    -0.6936414251530004
+                ]
+            ],
+            "translation_vector": [
+                0.678480182966377,
+                0.08347151701949569,
+                0.32561996692403633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9632059366083856,
+                    -0.26860808639213035,
+                    0.009166220983618098
+                ],
+                [
+                    -0.1925494820356403,
+                    0.6658692092227723,
+                    -0.7207932388534501
+                ],
+                [
+                    0.18750738825488794,
+                    -0.696037277833449,
+                    -0.6930895232334947
+                ]
+            ],
+            "translation_vector": [
+                0.6777719268225666,
+                0.08678746148136579,
+                0.3280489472899707
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9640009705328886,
+                    -0.265757651154778,
+                    0.008660234658743798
+                ],
+                [
+                    -0.19037876315944005,
+                    0.6671039146674173,
+                    -0.7202279455653535
+                ],
+                [
+                    0.18562881066669296,
+                    -0.6959491632929112,
+                    -0.693683434112684
+                ]
+            ],
+            "translation_vector": [
+                0.6767984088464427,
+                0.0901180774190821,
+                0.33010007038349626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9658702590471752,
+                    -0.2589267205807269,
+                    0.007183039569231468
+                ],
+                [
+                    -0.1848345051606395,
+                    0.6695272985689582,
+                    -0.7194229647244903
+                ],
+                [
+                    0.18146858788827464,
+                    -0.6961969188672582,
+                    -0.6945350975793608
+                ]
+            ],
+            "translation_vector": [
+                0.67423536091839,
+                0.09614256149130006,
+                0.33414880699399907
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9676228973874124,
+                    -0.25235181642003496,
+                    0.004948656494318136
+                ],
+                [
+                    -0.17919230872177458,
+                    0.673026698276518,
+                    -0.7175828731944277
+                ],
+                [
+                    0.1777527635412456,
+                    -0.695236380058264,
+                    -0.6964555483998474
+                ]
+            ],
+            "translation_vector": [
+                0.6713823060157116,
+                0.10142505027178993,
+                0.33732357474536717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9682070475201918,
+                    -0.25013563068798245,
+                    0.0026980349439150674
+                ],
+                [
+                    -0.1764765551404053,
+                    0.6753692263722972,
+                    -0.7160533733982831
+                ],
+                [
+                    0.17728829238843952,
+                    -0.6937640624373755,
+                    -0.6980403190736056
+                ]
+            ],
+            "translation_vector": [
+                0.6690253562277141,
+                0.10668678334953974,
+                0.3398377488709472
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9682873477900379,
+                    -0.2498382697644097,
+                    0.0006716180911461191
+                ],
+                [
+                    -0.17581268637995984,
+                    0.6794747297122803,
+                    -0.712322954136876
+                ],
+                [
+                    0.17750918685407854,
+                    -0.6898513830119863,
+                    -0.7018515212912586
+                ]
+            ],
+            "translation_vector": [
+                0.6664307902302223,
+                0.11305598902344811,
+                0.34156654693366634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9679825516154825,
+                    -0.2510114636952207,
+                    -0.0017392129148706562
+                ],
+                [
+                    -0.1756362341730993,
+                    0.6822285266664743,
+                    -0.7097296320768811
+                ],
+                [
+                    0.1793368144399596,
+                    -0.6867004314081038,
+                    -0.704472018245191
+                ]
+            ],
+            "translation_vector": [
+                0.6643383211621198,
+                0.11758994077810331,
+                0.34244402056475914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9674967901623873,
+                    -0.25287990896247114,
+                    -0.0013086896537829206
+                ],
+                [
+                    -0.17829634387779061,
+                    0.6857981365525017,
+                    -0.7056141506949313
+                ],
+                [
+                    0.17933313911625545,
+                    -0.6824460913099649,
+                    -0.7085950590220491
+                ]
+            ],
+            "translation_vector": [
+                0.6626842858335577,
+                0.12271385731356882,
+                0.3430594080777954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9646034968676187,
+                    -0.2637021936944557,
+                    -0.001116634001740948
+                ],
+                [
+                    -0.18681547972561405,
+                    0.6863338018835475,
+                    -0.7028839797057296
+                ],
+                [
+                    0.1861184310208174,
+                    -0.6777957401996619,
+                    -0.7113036371350437
+                ]
+            ],
+            "translation_vector": [
+                0.662175022384718,
+                0.12779797784530456,
+                0.3427414157160209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9627164708438438,
+                    -0.2704981042413615,
+                    0.0027878966631025657
+                ],
+                [
+                    -0.19465421516651507,
+                    0.6855540227670945,
+                    -0.7015165132666248
+                ],
+                [
+                    0.18784763316018294,
+                    -0.6759041777276451,
+                    -0.7126477455562699
+                ]
+            ],
+            "translation_vector": [
+                0.6626953134545621,
+                0.12999492557149592,
+                0.34183907679150527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9609047691205445,
+                    -0.27674061912602593,
+                    0.008755250261255277
+                ],
+                [
+                    -0.20336785163313187,
+                    0.6839737852465428,
+                    -0.7005864529218654
+                ],
+                [
+                    0.18789236707093177,
+                    -0.674977400230008,
+                    -0.7135138173681168
+                ]
+            ],
+            "translation_vector": [
+                0.6637757605548968,
+                0.13085871862644205,
+                0.34058103360231934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9599109042334342,
+                    -0.2799833095644059,
+                    0.01343139229987858
+                ],
+                [
+                    -0.2087478102451794,
+                    0.682060845334747,
+                    -0.700868999870228
+                ],
+                [
+                    0.18707059536868373,
+                    -0.6755755691457567,
+                    -0.7131635455642653
+                ]
+            ],
+            "translation_vector": [
+                0.6649723262841364,
+                0.1296807716272988,
+                0.3394232152613465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9590183791617163,
+                    -0.2827847990170338,
+                    0.017790611988652286
+                ],
+                [
+                    -0.2131636874845325,
+                    0.6786947761025756,
+                    -0.7028048400723148
+                ],
+                [
+                    0.18666813002768176,
+                    -0.6777950710472682,
+                    -0.7111602146464592
+                ]
+            ],
+            "translation_vector": [
+                0.6666387229464216,
+                0.1276676612242431,
+                0.33875857299952894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9590780016643395,
+                    -0.282327920743666,
+                    0.021455346468789903
+                ],
+                [
+                    -0.21445340156223258,
+                    0.6748453034785069,
+                    -0.7061115739961996
+                ],
+                [
+                    0.18487597270041708,
+                    -0.6818172493722646,
+                    -0.7077754680522026
+                ]
+            ],
+            "translation_vector": [
+                0.6682120314276306,
+                0.12423557910261857,
+                0.33825801547194745
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9608287847528852,
+                    -0.275851827534408,
+                    0.02671732838854028
+                ],
+                [
+                    -0.21284675904500328,
+                    0.6727430953758075,
+                    -0.7085993118739362
+                ],
+                [
+                    0.17749451696977078,
+                    -0.6865293124624067,
+                    -0.7051050982481712
+                ]
+            ],
+            "translation_vector": [
+                0.6701014342743344,
+                0.11874967589687348,
+                0.33747201473189925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9616452950647624,
+                    -0.2727944630623494,
+                    0.02866195042788925
+                ],
+                [
+                    -0.21139987584630784,
+                    0.6704998015108787,
+                    -0.7111540681638813
+                ],
+                [
+                    0.17478106010655692,
+                    -0.6899370964779306,
+                    -0.7024516950877344
+                ]
+            ],
+            "translation_vector": [
+                0.6721378193414936,
+                0.1134344441966549,
+                0.33671336043578465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.962489257771146,
+                    -0.2695959691321945,
+                    0.030535914966173566
+                ],
+                [
+                    -0.20971056336163021,
+                    0.6677982959658596,
+                    -0.7141896915523511
+                ],
+                [
+                    0.1721508300581099,
+                    -0.6938036100603451,
+                    -0.6992858087917535
+                ]
+            ],
+            "translation_vector": [
+                0.6741581743414998,
+                0.10806515849637079,
+                0.3360193550422814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9635696315057088,
+                    -0.26567997546206673,
+                    0.030784994371098405
+                ],
+                [
+                    -0.20671845406254952,
+                    0.666759463187731,
+                    -0.7160302360931406
+                ],
+                [
+                    0.1697087092342124,
+                    -0.6963088171839308,
+                    -0.6973901240496407
+                ]
+            ],
+            "translation_vector": [
+                0.6774687366943707,
+                0.09949816417066648,
+                0.3333302727167251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9637692523443155,
+                    -0.26468994507403537,
+                    0.03298577287837034
+                ],
+                [
+                    -0.20769206953365676,
+                    0.6670723080875607,
+                    -0.7154568750354992
+                ],
+                [
+                    0.16737034530796044,
+                    -0.6963862209718392,
+                    -0.6978777821023214
+                ]
+            ],
+            "translation_vector": [
+                0.6803574355878976,
+                0.09473198059381112,
+                0.3309750066749068
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9636890216482699,
+                    -0.2649062020084074,
+                    0.03358829695119887
+                ],
+                [
+                    -0.20811805154105018,
+                    0.6663132461840153,
+                    -0.7160401766538504
+                ],
+                [
+                    0.16730315650745453,
+                    -0.697030388216469,
+                    -0.6972505229294859
+                ]
+            ],
+            "translation_vector": [
+                0.682910348623792,
+                0.09030113647116535,
+                0.3289805715893737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9625125467389927,
+                    -0.2688120900805651,
+                    0.03618919170880909
+                ],
+                [
+                    -0.21277753556615087,
+                    0.6655675539366884,
+                    -0.7153639294129452
+                ],
+                [
+                    0.16821212122916146,
+                    -0.6962470045703982,
+                    -0.6978142954241725
+                ]
+            ],
+            "translation_vector": [
+                0.687072362209858,
+                0.08513629278200496,
+                0.32553869711160754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.96012976668539,
+                    -0.27682372684083056,
+                    0.03898019218285134
+                ],
+                [
+                    -0.22048887666669187,
+                    0.6641505499481488,
+                    -0.7143449462758396
+                ],
+                [
+                    0.1718589142026654,
+                    -0.6944585453873579,
+                    -0.6987072651315114
+                ]
+            ],
+            "translation_vector": [
+                0.6914717344330521,
+                0.0809572872624602,
+                0.3219892391462601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9564760902364668,
+                    -0.28874926020863484,
+                    0.04215867093408686
+                ],
+                [
+                    -0.23089873628289823,
+                    0.6605414919177639,
+                    -0.714402345347505
+                ],
+                [
+                    0.17843559731433378,
+                    -0.693043145975791,
+                    -0.6984639829132611
+                ]
+            ],
+            "translation_vector": [
+                0.6963397251068798,
+                0.07719337608846318,
+                0.3187805631690871
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9511079437722493,
+                    -0.30495812248451964,
+                    0.04893079627433321
+                ],
+                [
+                    -0.2453718684219246,
+                    0.6498459347609997,
+                    -0.719369798686139
+                ],
+                [
+                    0.18758018413589778,
+                    -0.6962045709454365,
+                    -0.6929017750837586
+                ]
+            ],
+            "translation_vector": [
+                0.7033857670666506,
+                0.07002917133214154,
+                0.31498351270241914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9491558443812396,
+                    -0.3106698065092455,
+                    0.050867026652286755
+                ],
+                [
+                    -0.250249509414454,
+                    0.646566902684157,
+                    -0.7206430624041569
+                ],
+                [
+                    0.19099310488800791,
+                    -0.6967320228588063,
+                    -0.6914377211349657
+                ]
+            ],
+            "translation_vector": [
+                0.7058780286720512,
+                0.06703254362576326,
+                0.3131781029827098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.943081412002681,
+                    -0.3279746860349888,
+                    0.055045941315233556
+                ],
+                [
+                    -0.2643000861319135,
+                    0.6387024978399769,
+                    -0.7226372421371858
+                ],
+                [
+                    0.20184874239314127,
+                    -0.696054397711289,
+                    -0.6890321912806996
+                ]
+            ],
+            "translation_vector": [
+                0.7112057636527488,
+                0.06339310210776446,
+                0.30952409395325525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9366034444059096,
+                    -0.34498726808701385,
+                    0.0613006752397179
+                ],
+                [
+                    -0.2786056405812508,
+                    0.6271369593529613,
+                    -0.7273775713134367
+                ],
+                [
+                    0.2124920821190694,
+                    -0.6983430525689948,
+                    -0.6834940350619905
+                ]
+            ],
+            "translation_vector": [
+                0.7165487263519487,
+                0.05966336734690254,
+                0.30690923562965644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9327307550525914,
+                    -0.3542618701133136,
+                    0.06717042476299406
+                ],
+                [
+                    -0.28829096629024464,
+                    0.6208078200319183,
+                    -0.7290308425181032
+                ],
+                [
+                    0.21656790467301537,
+                    -0.699354114859587,
+                    -0.6811770435756805
+                ]
+            ],
+            "translation_vector": [
+                0.7203231132404713,
+                0.05753799128349113,
+                0.30476442690173006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9290217405637812,
+                    -0.36259092071842375,
+                    0.07379993070734396
+                ],
+                [
+                    -0.29776972753535336,
+                    0.6141902217006027,
+                    -0.730823891871966
+                ],
+                [
+                    0.21966291203424493,
+                    -0.700926669331344,
+                    -0.6785646684706663
+                ]
+            ],
+            "translation_vector": [
+                0.7242298312270719,
+                0.05515499374357946,
+                0.3034512178621201
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9256344912271328,
+                    -0.3700915310968985,
+                    0.078949650164141
+                ],
+                [
+                    -0.30521742712620503,
+                    0.6068185134482077,
+                    -0.7339030003447099
+                ],
+                [
+                    0.22370317572432105,
+                    -0.7034227394297551,
+                    -0.6746505308854301
+                ]
+            ],
+            "translation_vector": [
+                0.7280512299379496,
+                0.051798971766427074,
+                0.30241549161155235
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9230804377826889,
+                    -0.3756390134833938,
+                    0.08257019396938782
+                ],
+                [
+                    -0.31070571928484164,
+                    0.6017916896976276,
+                    -0.7357368539189564
+                ],
+                [
+                    0.22668140944199366,
+                    -0.7047993287171159,
+                    -0.6722153262558762
+                ]
+            ],
+            "translation_vector": [
+                0.7312845459065044,
+                0.048452794254516346,
+                0.30110171950072145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9209832533140615,
+                    -0.380216939818802,
+                    0.08499956346872012
+                ],
+                [
+                    -0.31514517611612697,
+                    0.5987525820838385,
+                    -0.7363279591450211
+                ],
+                [
+                    0.2290706552262484,
+                    -0.7049329217186285,
+                    -0.6712646354392993
+                ]
+            ],
+            "translation_vector": [
+                0.7337129729407535,
+                0.0460982146792871,
+                0.29994503066647105
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9172326685461335,
+                    -0.388229466920643,
+                    0.08923067166760798
+                ],
+                [
+                    -0.32287567693008234,
+                    0.5933557031953854,
+                    -0.7373468022121281
+                ],
+                [
+                    0.23331422802452514,
+                    -0.7051289885545933,
+                    -0.6695950869751784
+                ]
+            ],
+            "translation_vector": [
+                0.7374385116877981,
+                0.04316430462834804,
+                0.29822218302709924
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9148711128365823,
+                    -0.3933035336646731,
+                    0.0912314490953366
+                ],
+                [
+                    -0.3271277490535085,
+                    0.5896466775289994,
+                    -0.7384471758211263
+                ],
+                [
+                    0.23663956282992574,
+                    -0.7054283280999524,
+                    -0.6681112117138642
+                ]
+            ],
+            "translation_vector": [
+                0.7397282835335375,
+                0.04106090557856949,
+                0.29705510066779345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.913534031867599,
+                    -0.39596222276344895,
+                    0.09311010022525752
+                ],
+                [
+                    -0.32989170859010514,
+                    0.5873067962301018,
+                    -0.7390819898397165
+                ],
+                [
+                    0.23796435284140716,
+                    -0.7058928001093103,
+                    -0.6671493997078974
+                ]
+            ],
+            "translation_vector": [
+                0.7412833704997048,
+                0.03950501380766443,
+                0.2962805555884248
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9109119989829775,
+                    -0.4013286452725677,
+                    0.09578438595366943
+                ],
+                [
+                    -0.3349850708116061,
+                    0.583821731254236,
+                    -0.7395520187577408
+                ],
+                [
+                    0.2408824037620414,
+                    -0.7057531470698465,
+                    -0.6662493249218558
+                ]
+            ],
+            "translation_vector": [
+                0.7435894790516786,
+                0.03751423392373231,
+                0.2946879651015188
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9083772864571992,
+                    -0.40657579097631075,
+                    0.09770788934698581
+                ],
+                [
+                    -0.33956874276517196,
+                    0.5808880045875401,
+                    -0.7397717182098722
+                ],
+                [
+                    0.24401593059785237,
+                    -0.7051703711290581,
+                    -0.665725899523348
+                ]
+            ],
+            "translation_vector": [
+                0.7453931246463993,
+                0.03566661574476439,
+                0.29298203138230994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9055394407480342,
+                    -0.41266110997478767,
+                    0.09853491545698044
+                ],
+                [
+                    -0.3438622040238919,
+                    0.5778267911038946,
+                    -0.7401857767658119
+                ],
+                [
+                    0.24850977021752965,
+                    -0.7041498475445075,
+                    -0.6651435080563277
+                ]
+            ],
+            "translation_vector": [
+                0.7468254638189814,
+                0.034062999270725175,
+                0.2912892780950654
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9034237302482288,
+                    -0.41690215209715564,
+                    0.10009075482348895
+                ],
+                [
+                    -0.347595919557013,
+                    0.5755193908801254,
+                    -0.7402394932913835
+                ],
+                [
+                    0.2510032675717393,
+                    -0.7035410622683865,
+                    -0.6648513618626197
+                ]
+            ],
+            "translation_vector": [
+                0.7479818121976267,
+                0.03229057731586628,
+                0.2894184198129378
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9021937907309225,
+                    -0.4195070396557428,
+                    0.1003005864680967
+                ],
+                [
+                    -0.3494560265754006,
+                    0.5745943303718667,
+                    -0.7400823204175601
+                ],
+                [
+                    0.2528375950223818,
+                    -0.7027483185207789,
+                    -0.664994700249195
+                ]
+            ],
+            "translation_vector": [
+                0.7485289093611346,
+                0.03135982588715306,
+                0.28806463781965214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9005392150849207,
+                    -0.42270332702533825,
+                    0.10173995977955512
+                ],
+                [
+                    -0.35264205465910087,
+                    0.5732647646028128,
+                    -0.739601981440484
+                ],
+                [
+                    0.25430828413569845,
+                    -0.7019183762992619,
+                    -0.6653103709047118
+                ]
+            ],
+            "translation_vector": [
+                0.7493664262431424,
+                0.03033830641729017,
+                0.28658366865540064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8986737973021715,
+                    -0.42635283724778383,
+                    0.10299836995438548
+                ],
+                [
+                    -0.35594588665079113,
+                    0.5716821018355319,
+                    -0.7392442764183507
+                ],
+                [
+                    0.256296570048992,
+                    -0.701001307139775,
+                    -0.6655142639864672
+                ]
+            ],
+            "translation_vector": [
+                0.7502270924011827,
+                0.029447751723345822,
+                0.285028921651915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.896548044688876,
+                    -0.4303774689838781,
+                    0.10477040496048945
+                ],
+                [
+                    -0.3598847653458616,
+                    0.5698616638607092,
+                    -0.7387426072278889
+                ],
+                [
+                    0.25823353623514494,
+                    -0.7000235126429224,
+                    -0.6657946549128769
+                ]
+            ],
+            "translation_vector": [
+                0.7511438471698014,
+                0.02820719853092664,
+                0.28313097190401315
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8955405177719699,
+                    -0.43209280994170945,
+                    0.10631549569742883
+                ],
+                [
+                    -0.36226437233532377,
+                    0.5692138854359173,
+                    -0.7380786388749103
+                ],
+                [
+                    0.2584022166414332,
+                    -0.6994936427328158,
+                    -0.6662859282704159
+                ]
+            ],
+            "translation_vector": [
+                0.7516489878832935,
+                0.027580120274768666,
+                0.28207344750796687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8927497640783811,
+                    -0.4369368784679174,
+                    0.10992735315974708
+                ],
+                [
+                    -0.3684780546537754,
+                    0.5676569289775973,
+                    -0.736199384828793
+                ],
+                [
+                    0.259271637431796,
+                    -0.6977476443660962,
+                    -0.6677772404065594
+                ]
+            ],
+            "translation_vector": [
+                0.7528855712852459,
+                0.027075895845306314,
+                0.2799024854359452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8912843606373245,
+                    -0.4393266412640061,
+                    0.11226883253602928
+                ],
+                [
+                    -0.3720307016715357,
+                    0.5669392665072899,
+                    -0.734964642078761
+                ],
+                [
+                    0.2592399380826582,
+                    -0.6968299436504316,
+                    -0.6687471002815908
+                ]
+            ],
+            "translation_vector": [
+                0.7535869704019371,
+                0.0265891724356499,
+                0.2786316141229551
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8896929538586321,
+                    -0.4415990624558868,
+                    0.115916849044405
+                ],
+                [
+                    -0.3766439795715145,
+                    0.5664155262836551,
+                    -0.7330162100781557
+                ],
+                [
+                    0.2580421680788511,
+                    -0.6958187404941693,
+                    -0.6702615309491319
+                ]
+            ],
+            "translation_vector": [
+                0.7544990991782481,
+                0.026040558168148986,
+                0.27709203837499924
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8848856242723274,
+                    -0.4495886573683283,
+                    0.1218501995152958
+                ],
+                [
+                    -0.38633692403629305,
+                    0.5622185154060496,
+                    -0.7312004663980962
+                ],
+                [
+                    0.2602329976815948,
+                    -0.6941040124508443,
+                    -0.6711917809518301
+                ]
+            ],
+            "translation_vector": [
+                0.7566673133755225,
+                0.025749675112661012,
+                0.27506245815207575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8833530872210066,
+                    -0.45187606064921776,
+                    0.12448031615183638
+                ],
+                [
+                    -0.3898274082528098,
+                    0.560850921247753,
+                    -0.730397724469651
+                ],
+                [
+                    0.2602343464495297,
+                    -0.6937249238334252,
+                    -0.6715830663293224
+                ]
+            ],
+            "translation_vector": [
+                0.7574895957200506,
+                0.025555970928480803,
+                0.27423897733864044
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8811301131643566,
+                    -0.45506335009781096,
+                    0.12855765660872082
+                ],
+                [
+                    -0.39501033832036037,
+                    0.5588670624345893,
+                    -0.7291326622403965
+                ],
+                [
+                    0.2599549120424599,
+                    -0.6932423486223926,
+                    -0.6721893258461539
+                ]
+            ],
+            "translation_vector": [
+                0.7588381889456922,
+                0.025498870542987488,
+                0.27346788121757026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8798428914916078,
+                    -0.4563563388287484,
+                    0.1327229381173727
+                ],
+                [
+                    -0.3989591223913967,
+                    0.5574340882697608,
+                    -0.7280788802702272
+                ],
+                [
+                    0.25827912217671384,
+                    -0.6935460541634433,
+                    -0.6725219444761227
+                ]
+            ],
+            "translation_vector": [
+                0.7599871430513323,
+                0.025084002742667248,
+                0.2730452136802983
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8781120596787849,
+                    -0.4585710519403318,
+                    0.13649835518796444
+                ],
+                [
+                    -0.40281409973747706,
+                    0.5546145121845815,
+                    -0.7281095686275145
+                ],
+                [
+                    0.25818600213676973,
+                    -0.6943452550400248,
+                    -0.67173257707516
+                ]
+            ],
+            "translation_vector": [
+                0.7611506537811485,
+                0.024348285852113773,
+                0.2729468534599393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8770490755775828,
+                    -0.4600693590306469,
+                    0.13827907979747953
+                ],
+                [
+                    -0.40478744940521577,
+                    0.5527164432998356,
+                    -0.7284584093206695
+                ],
+                [
+                    0.25871227228820776,
+                    -0.6948674105087316,
+                    -0.6709897480441581
+                ]
+            ],
+            "translation_vector": [
+                0.7617749476009903,
+                0.023347166135816964,
+                0.27282200937641726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8757243455840656,
+                    -0.4618625548115874,
+                    0.14067640532183615
+                ],
+                [
+                    -0.407392818316667,
+                    0.550499386125261,
+                    -0.7286847860767467
+                ],
+                [
+                    0.259109942177762,
+                    -0.6954375646588445,
+                    -0.6702452025386028
+                ]
+            ],
+            "translation_vector": [
+                0.7625972654893804,
+                0.022176719230876177,
+                0.27271405735509396
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8755226235518031,
+                    -0.46181935015115083,
+                    0.14206696827530357
+                ],
+                [
+                    -0.408290276379868,
+                    0.5498941917039875,
+                    -0.7286394363084319
+                ],
+                [
+                    0.25837799028287683,
+                    -0.695944872641639,
+                    -0.670001155507358
+                ]
+            ],
+            "translation_vector": [
+                0.7629459544101523,
+                0.021247205258977428,
+                0.2727593879186662
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8764276201877793,
+                    -0.4598814372703431,
+                    0.142771461525577
+                ],
+                [
+                    -0.40779749639886714,
+                    0.551174241824154,
+                    -0.7279479082189777
+                ],
+                [
+                    0.25607777822919686,
+                    -0.6962154973883681,
+                    -0.6706028278299054
+                ]
+            ],
+            "translation_vector": [
+                0.7628983006396134,
+                0.020342580202602115,
+                0.27277670951682703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8772133076986225,
+                    -0.4584160038273043,
+                    0.1426589647777081
+                ],
+                [
+                    -0.4069869219552772,
+                    0.552414008897695,
+                    -0.7274616196961509
+                ],
+                [
+                    0.2546732380007987,
+                    -0.6961993466016635,
+                    -0.6711542383369161
+                ]
+            ],
+            "translation_vector": [
+                0.7627176679357347,
+                0.019229132640737917,
+                0.2726632996232896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8781037233671565,
+                    -0.45708488281688825,
+                    0.1414470250977653
+                ],
+                [
+                    -0.40541558042548076,
+                    0.5537742235206768,
+                    -0.7273048305300485
+                ],
+                [
+                    0.2541103267421591,
+                    -0.6959939074908225,
+                    -0.6715805406491839
+                ]
+            ],
+            "translation_vector": [
+                0.7621653594191145,
+                0.01794482095138132,
+                0.272353320113922
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8793995336812768,
+                    -0.45479987159028806,
+                    0.14076056607804138
+                ],
+                [
+                    -0.40359571517569154,
+                    0.5553488275733307,
+                    -0.7271163444764185
+                ],
+                [
+                    0.2525212047590759,
+                    -0.6962361355993991,
+                    -0.6719287794347257
+                ]
+            ],
+            "translation_vector": [
+                0.7614446452825357,
+                0.016641703632078814,
+                0.27209857253156167
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8809208683132971,
+                    -0.4518275361493112,
+                    0.14082010278149187
+                ],
+                [
+                    -0.40215297273359724,
+                    0.5577845958594696,
+                    -0.726050501785805
+                ],
+                [
+                    0.2495023252229878,
+                    -0.696224261426684,
+                    -0.6730678773416477
+                ]
+            ],
+            "translation_vector": [
+                0.7606523180825833,
+                0.015230043281040273,
+                0.2716581177688666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8812971368120489,
+                    -0.4511292837728092,
+                    0.14070439214721583
+                ],
+                [
+                    -0.4018172677020261,
+                    0.558667583602377,
+                    -0.7255573129728348
+                ],
+                [
+                    0.24871316817443234,
+                    -0.6959690369222715,
+                    -0.6736236780444428
+                ]
+            ],
+            "translation_vector": [
+                0.7601915218847789,
+                0.014362086634819166,
+                0.27120078346745163
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8815078530615211,
+                    -0.45068381275057745,
+                    0.14081195231751556
+                ],
+                [
+                    -0.401872596371509,
+                    0.5595695748730776,
+                    -0.7248312266741728
+                ],
+                [
+                    0.24787561654283372,
+                    -0.6955328833354799,
+                    -0.6743824485576002
+                ]
+            ],
+            "translation_vector": [
+                0.7597530820132241,
+                0.01357020282296377,
+                0.2705563373951862
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8821741425269285,
+                    -0.4483555202280349,
+                    0.144035098979128
+                ],
+                [
+                    -0.40327371263161005,
+                    0.5612993904926714,
+                    -0.722712464907638
+                ],
+                [
+                    0.24318530991241308,
+                    -0.6956438181379927,
+                    -0.6759738037299965
+                ]
+            ],
+            "translation_vector": [
+                0.7594910367476172,
+                0.012833424765211238,
+                0.26978070704827106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8812742871918209,
+                    -0.449132964106975,
+                    0.1470891270183858
+                ],
+                [
+                    -0.40634691956094254,
+                    0.5611660741998151,
+                    -0.7210927943964638
+                ],
+                [
+                    0.24132511617707958,
+                    -0.6952497520457313,
+                    -0.6770450284748192
+                ]
+            ],
+            "translation_vector": [
+                0.7598018744992191,
+                0.012465421396417202,
+                0.26909900990894753
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8813635856222523,
+                    -0.44843366161153375,
+                    0.1486791211729454
+                ],
+                [
+                    -0.4075141803566008,
+                    0.5623962701867724,
+                    -0.7194738550415122
+                ],
+                [
+                    0.23901971204771938,
+                    -0.6947069068417844,
+                    -0.6784186692883281
+                ]
+            ],
+            "translation_vector": [
+                0.7595856737289487,
+                0.011871792176442388,
+                0.2683045326838665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8817162411857353,
+                    -0.4470189328769626,
+                    0.15083283355702107
+                ],
+                [
+                    -0.4087015637813088,
+                    0.564034043463448,
+                    -0.7175155953545446
+                ],
+                [
+                    0.23566820275975095,
+                    -0.6942907686724745,
+                    -0.6800153136100495
+                ]
+            ],
+            "translation_vector": [
+                0.7594648221021258,
+                0.011189580506041415,
+                0.26757877583169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8820273932305611,
+                    -0.44563081196186716,
+                    0.15310407251640382
+                ],
+                [
+                    -0.4097958634499726,
+                    0.5650841395663204,
+                    -0.7160637300617053
+                ],
+                [
+                    0.23258337836180915,
+                    -0.6943292408078451,
+                    -0.681037353945442
+                ]
+            ],
+            "translation_vector": [
+                0.7595391974545751,
+                0.010664733638480556,
+                0.267229834346827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8821160187530196,
+                    -0.44500433586190513,
+                    0.15441007261000547
+                ],
+                [
+                    -0.4106975021834597,
+                    0.5661070855181723,
+                    -0.7147379445827596
+                ],
+                [
+                    0.2306488481644545,
+                    -0.6938976212599562,
+                    -0.6821342976644592
+                ]
+            ],
+            "translation_vector": [
+                0.759577982643066,
+                0.010132961042310346,
+                0.2667591412485723
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8815541794959054,
+                    -0.4453467052624079,
+                    0.15661590189128186
+                ],
+                [
+                    -0.41283442593202524,
+                    0.5663426811462645,
+                    -0.7133187956849564
+                ],
+                [
+                    0.2289759056727949,
+                    -0.6934856015981726,
+                    -0.6831162089991311
+                ]
+            ],
+            "translation_vector": [
+                0.7599296487043369,
+                0.009647457250755317,
+                0.2662164460393838
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8815211574478726,
+                    -0.444551712706514,
+                    0.15904157853048576
+                ],
+                [
+                    -0.41435359006561556,
+                    0.5669265373798222,
+                    -0.711972895280615
+                ],
+                [
+                    0.22634387858190336,
+                    -0.6935186197530898,
+                    -0.6839593355487376
+                ]
+            ],
+            "translation_vector": [
+                0.7603162429761122,
+                0.009302426246592964,
+                0.2660034689819061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8818521543406029,
+                    -0.44306350310422526,
+                    0.16134283405794544
+                ],
+                [
+                    -0.41536955767799294,
+                    0.567988981159111,
+                    -0.7105326507882829
+                ],
+                [
+                    0.22317013339429173,
+                    -0.6936016504441492,
+                    -0.6849173979845503
+                ]
+            ],
+            "translation_vector": [
+                0.7606730064746238,
+                0.008878147462211543,
+                0.26591135105829083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8814061279853906,
+                    -0.4430730104333255,
+                    0.163736205450572
+                ],
+                [
+                    -0.41720309064653155,
+                    0.5676713239982975,
+                    -0.7097118070491732
+                ],
+                [
+                    0.22150579835476894,
+                    -0.6938555868014404,
+                    -0.6852004129885256
+                ]
+            ],
+            "translation_vector": [
+                0.7614470128838947,
+                0.00846965082980216,
+                0.2660751395462672
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.881280352403268,
+                    -0.44280048852147247,
+                    0.16514438480649948
+                ],
+                [
+                    -0.4181156603027487,
+                    0.5676577370208266,
+                    -0.7091854399309048
+                ],
+                [
+                    0.2202821714927658,
+                    -0.6940406479202351,
+                    -0.6854074291666908
+                ]
+            ],
+            "translation_vector": [
+                0.7618995628669633,
+                0.008182068804942079,
+                0.26620341979464757
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8817499651631499,
+                    -0.4419096979433457,
+                    0.165023688597744
+                ],
+                [
+                    -0.4175165275203987,
+                    0.5683069221725104,
+                    -0.7090184704632997
+                ],
+                [
+                    0.21953803356615093,
+                    -0.6940771290529818,
+                    -0.6856092113904819
+                ]
+            ],
+            "translation_vector": [
+                0.761845427674382,
+                0.0075535178977856055,
+                0.26619094588282266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8826508581509124,
+                    -0.4404181252113115,
+                    0.16419298886009553
+                ],
+                [
+                    -0.4160083481281139,
+                    0.5693955266046132,
+                    -0.7090315850301547
+                ],
+                [
+                    0.2187796080378057,
+                    -0.6941329910528738,
+                    -0.6857950669396911
+                ]
+            ],
+            "translation_vector": [
+                0.7617220042812979,
+                0.006481309416718012,
+                0.26633475791505506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8835172913975199,
+                    -0.43900727052805566,
+                    0.16330894716792654
+                ],
+                [
+                    -0.41434425792989255,
+                    0.5699193845861574,
+                    -0.7095849004829953
+                ],
+                [
+                    0.21843999570160363,
+                    -0.6945966538189212,
+                    -0.6854337727172781
+                ]
+            ],
+            "translation_vector": [
+                0.7615389076524133,
+                0.005485744804921443,
+                0.26663838931545775
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8840032878764752,
+                    -0.4384563027160158,
+                    0.16215504195732847
+                ],
+                [
+                    -0.4129943001578951,
+                    0.5699623871936405,
+                    -0.7103369518908735
+                ],
+                [
+                    0.21902943879915288,
+                    -0.6949093090419269,
+                    -0.6849285781351222
+                ]
+            ],
+            "translation_vector": [
+                0.7612977980422173,
+                0.004769066922295166,
+                0.26681190308682107
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8860941414171115,
+                    -0.43531822753580596,
+                    0.15917039084376405
+                ],
+                [
+                    -0.4083705297722349,
+                    0.5707755694275888,
+                    -0.7123543779314874
+                ],
+                [
+                    0.21925027470864533,
+                    -0.6962135377308434,
+                    -0.6835320233321094
+                ]
+            ],
+            "translation_vector": [
+                0.7603363629132902,
+                0.0032765432045023385,
+                0.2675355332214662
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8869080867674902,
+                    -0.4343115612425054,
+                    0.15737697861354422
+                ],
+                [
+                    -0.40552837676383247,
+                    0.5688605416959469,
+                    -0.715502913858976
+                ],
+                [
+                    0.22122563428708142,
+                    -0.6984061510843756,
+                    -0.6806526771135093
+                ]
+            ],
+            "translation_vector": [
+                0.7599078101107434,
+                0.0023817420876856357,
+                0.26872725729701785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8887476658609823,
+                    -0.43145932868518067,
+                    0.15482388096540298
+                ],
+                [
+                    -0.4002233594121548,
+                    0.5656900181106752,
+                    -0.720982708524132
+                ],
+                [
+                    0.22349239138616137,
+                    -0.7027358330841526,
+                    -0.6754357851728154
+                ]
+            ],
+            "translation_vector": [
+                0.7592785360668374,
+                0.0009276423416799198,
+                0.2711793728419958
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8909403990399399,
+                    -0.4277151068694737,
+                    0.15259420930752116
+                ],
+                [
+                    -0.39460083278723734,
+                    0.5628482986755803,
+                    -0.7262864279618778
+                ],
+                [
+                    0.22475628605707904,
+                    -0.7072917220169059,
+                    -0.6702410251873493
+                ]
+            ],
+            "translation_vector": [
+                0.7587193324077002,
+                -0.0003931901127784826,
+                0.2739300316197256
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8937482409973497,
+                    -0.422796315092088,
+                    0.1498577914514141
+                ],
+                [
+                    -0.38744260691088167,
+                    0.5592436502193472,
+                    -0.7328947851086409
+                ],
+                [
+                    0.22605819618904255,
+                    -0.7130847184128215,
+                    -0.6636323351840716
+                ]
+            ],
+            "translation_vector": [
+                0.7579577543131563,
+                -0.001962758564184798,
+                0.2774220109468479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8957012749457647,
+                    -0.4192480339981998,
+                    0.14815637701150916
+                ],
+                [
+                    -0.3826235191799003,
+                    0.5569536398576478,
+                    -0.7371579787397723
+                ],
+                [
+                    0.22653579988805414,
+                    -0.7169614557547446,
+                    -0.659278243483825
+                ]
+            ],
+            "translation_vector": [
+                0.7573943525874448,
+                -0.0028583882956373236,
+                0.2798134582590574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8987368596044407,
+                    -0.4137331957254327,
+                    0.14524771923568794
+                ],
+                [
+                    -0.3751865779877916,
+                    0.5541321712353698,
+                    -0.7430831504614986
+                ],
+                [
+                    0.22695173250310116,
+                    -0.7223312118113105,
+                    -0.6532461492860446
+                ]
+            ],
+            "translation_vector": [
+                0.7566454342379704,
+                -0.0037930273704418413,
+                0.2834731354165558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9012148343194715,
+                    -0.40867749110325247,
+                    0.14420308827510864
+                ],
+                [
+                    -0.3697367034239126,
+                    0.5514917475804182,
+                    -0.7477644164387033
+                ],
+                [
+                    0.22606767248712378,
+                    -0.7272135591531883,
+                    -0.6481156122483143
+                ]
+            ],
+            "translation_vector": [
+                0.7561675158168046,
+                -0.0043755524559513925,
+                0.28659115991964385
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9039697442378374,
+                    -0.4030235979750033,
+                    0.14286595457932683
+                ],
+                [
+                    -0.36407866806596395,
+                    0.550237471564842,
+                    -0.7514555531402
+                ],
+                [
+                    0.22424411912443312,
+                    -0.731307530633463,
+                    -0.6441303211904361
+                ]
+            ],
+            "translation_vector": [
+                0.7556158170950077,
+                -0.004937069904275775,
+                0.28945043507409046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9082369778663288,
+                    -0.39417582512634597,
+                    0.1404671168715364
+                ],
+                [
+                    -0.3547765121408501,
+                    0.547339785942081,
+                    -0.7579926023109003
+                ],
+                [
+                    0.22189911777519716,
+                    -0.738271344162051,
+                    -0.6369585574586056
+                ]
+            ],
+            "translation_vector": [
+                0.7546614906948129,
+                -0.005919506208031174,
+                0.2944081193430391
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9115854829580341,
+                    -0.3874948790308066,
+                    0.1373303534731802
+                ],
+                [
+                    -0.3463939771434774,
+                    0.5440553616696856,
+                    -0.7642087254390597
+                ],
+                [
+                    0.22141165249121847,
+                    -0.7442119873822033,
+                    -0.6301788618937799
+                ]
+            ],
+            "translation_vector": [
+                0.7536057177936256,
+                -0.006609339349134956,
+                0.2986288786827267
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9139780274837056,
+                    -0.38253158142308774,
+                    0.13532832109705092
+                ],
+                [
+                    -0.3407930789367702,
+                    0.5426591474133399,
+                    -0.7677116171306931
+                ],
+                [
+                    0.22023678763047566,
+                    -0.7477905047154444,
+                    -0.6263426525725595
+                ]
+            ],
+            "translation_vector": [
+                0.752730801422568,
+                -0.006789279480370863,
+                0.30123502630875887
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9191061161649163,
+                    -0.37155223740458976,
+                    0.13112163096867954
+                ],
+                [
+                    -0.32885721363419756,
+                    0.5401023881599528,
+                    -0.7746885460265097
+                ],
+                [
+                    0.21701815654224627,
+                    -0.755141274983403,
+                    -0.6185990418255157
+                ]
+            ],
+            "translation_vector": [
+                0.750685759762203,
+                -0.007457157314943133,
+                0.30649080908749715
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.921681272123349,
+                    -0.3668155956179146,
+                    0.12629311710683294
+                ],
+                [
+                    -0.32051365756133904,
+                    0.5365792079349816,
+                    -0.7806111381017575
+                ],
+                [
+                    0.21857407882394989,
+                    -0.7599533356880167,
+                    -0.6121244151664915
+                ]
+            ],
+            "translation_vector": [
+                0.7491807560267877,
+                -0.007881390661293237,
+                0.3102936128318933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9242136733297867,
+                    -0.3617125415055862,
+                    0.12244641010594066
+                ],
+                [
+                    -0.31262257648422376,
+                    0.532514410590172,
+                    -0.7865720101720931
+                ],
+                [
+                    0.21930848297005795,
+                    -0.7652401190681075,
+                    -0.6052366061847222
+                ]
+            ],
+            "translation_vector": [
+                0.7477215720220929,
+                -0.007921279264795154,
+                0.3142826861086917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9281273603517358,
+                    -0.35294798986848314,
+                    0.11835252179111706
+                ],
+                [
+                    -0.3022975552736551,
+                    0.5290478265638938,
+                    -0.79292155052287
+                ],
+                [
+                    0.21724592295850131,
+                    -0.7717098636507234,
+                    -0.5977190772445627
+                ]
+            ],
+            "translation_vector": [
+                0.7455409720149032,
+                -0.007684439578289272,
+                0.3193888283333343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9303098985031301,
+                    -0.3487799603849878,
+                    0.11347260453934392
+                ],
+                [
+                    -0.29428996882677055,
+                    0.5251886143524163,
+                    -0.7984800145291852
+                ],
+                [
+                    0.2188993078907158,
+                    -0.776227710526,
+                    -0.5912306101822961
+                ]
+            ],
+            "translation_vector": [
+                0.7439792511621414,
+                -0.00706897709534577,
+                0.32357756998997755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.932933520508579,
+                    -0.3425540537049772,
+                    0.11086823982438206
+                ],
+                [
+                    -0.2871799015082573,
+                    0.5222334535574175,
+                    -0.802994348769156
+                ],
+                [
+                    0.21716986549974335,
+                    -0.7809794749388622,
+                    -0.5855837337589245
+                ]
+            ],
+            "translation_vector": [
+                0.7424010453204438,
+                -0.005822663109386936,
+                0.32801529218508607
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9363304938692786,
+                    -0.33493535880916786,
+                    0.10537320185838212
+                ],
+                [
+                    -0.27664694874037504,
+                    0.5189216790115073,
+                    -0.8088181234397009
+                ],
+                [
+                    0.21622134955446373,
+                    -0.7864722477438432,
+                    -0.5785410370281386
+                ]
+            ],
+            "translation_vector": [
+                0.7399634655776545,
+                -0.004532664201786357,
+                0.33372420849685014
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9401554198447043,
+                    -0.3254069277423783,
+                    0.10108470662713906
+                ],
+                [
+                    -0.26624033729118174,
+                    0.5163749378382503,
+                    -0.8139244475819738
+                ],
+                [
+                    0.21265904480107567,
+                    -0.792128307125689,
+                    -0.5721091466796212
+                ]
+            ],
+            "translation_vector": [
+                0.7373767039318655,
+                -0.0029543640244135833,
+                0.33946956271412154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9440663923485395,
+                    -0.31546405412025647,
+                    0.0960264411296477
+                ],
+                [
+                    -0.2552330594808112,
+                    0.5146611702502815,
+                    -0.8185230388844752
+                ],
+                [
+                    0.20879351567057458,
+                    -0.7972492147344037,
+                    -0.5663911699693939
+                ]
+            ],
+            "translation_vector": [
+                0.7344970107986528,
+                -0.001124742918879179,
+                0.34507966153397307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9498861760578572,
+                    -0.29975955577953817,
+                    0.08865924234413149
+                ],
+                [
+                    -0.23903928045669906,
+                    0.5137760592908979,
+                    -0.8239504738139665
+                ],
+                [
+                    0.20143603186352985,
+                    -0.8038522063279856,
+                    -0.5596830848334664
+                ]
+            ],
+            "translation_vector": [
+                0.7298998875777623,
+                0.0014392027433088872,
+                0.35316815385229977
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536773839045616,
+                    -0.2890651807279933,
+                    0.083311276065393
+                ],
+                [
+                    -0.22814418991993088,
+                    0.5144502886734593,
+                    -0.8266142565245128
+                ],
+                [
+                    0.19608588943299846,
+                    -0.8073303052496463,
+                    -0.5565681469422977
+                ]
+            ],
+            "translation_vector": [
+                0.7267426325990315,
+                0.0030625147010924017,
+                0.35802907831893166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9583733648656039,
+                    -0.2754165951493893,
+                    0.07527411661718635
+                ],
+                [
+                    -0.2132749940554713,
+                    0.515272766580478,
+                    -0.8300649088662522
+                ],
+                [
+                    0.18982694863169206,
+                    -0.811566186541072,
+                    -0.5525631678246057
+                ]
+            ],
+            "translation_vector": [
+                0.7225053938563315,
+                0.0057687370771917,
+                0.3651337657223299
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9634993394476453,
+                    -0.257650744064367,
+                    0.07269880994231565
+                ],
+                [
+                    -0.20123917929353757,
+                    0.5179576304811189,
+                    -0.8313980308754936
+                ],
+                [
+                    0.17655541793220134,
+                    -0.8156813024150197,
+                    -0.5509012591103082
+                ]
+            ],
+            "translation_vector": [
+                0.7187202380663565,
+                0.010108407361968358,
+                0.3731262074405836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9688371881850256,
+                    -0.2374286336793285,
+                    0.07058432332253593
+                ],
+                [
+                    -0.18880851707642216,
+                    0.5234293862607412,
+                    -0.8308868884981315
+                ],
+                [
+                    0.16033042964183514,
+                    -0.8183210381677054,
+                    -0.5519464030347453
+                ]
+            ],
+            "translation_vector": [
+                0.7149694180349604,
+                0.014197740163453307,
+                0.38022704611563285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9743373485582781,
+                    -0.2122337530298837,
+                    0.07499043458518437
+                ],
+                [
+                    -0.17931046970140235,
+                    0.5304334355649327,
+                    -0.8285457898572928
+                ],
+                [
+                    0.13606794868699582,
+                    -0.8207296780972607,
+                    -0.5548768411372746
+                ]
+            ],
+            "translation_vector": [
+                0.7116565077391006,
+                0.018837615578709985,
+                0.38811561733321437
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9787800578531376,
+                    -0.18938178612212853,
+                    0.07825686828771611
+                ],
+                [
+                    -0.17014540803788028,
+                    0.5382824306386601,
+                    -0.8254105432991267
+                ],
+                [
+                    0.1141934256979438,
+                    -0.8212104261094891,
+                    -0.5590825498765274
+                ]
+            ],
+            "translation_vector": [
+                0.7085583812368944,
+                0.02216506820448809,
+                0.39392069712785105
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9825965833676774,
+                    -0.16683755254909993,
+                    0.08166508074809982
+                ],
+                [
+                    -0.16123519591924762,
+                    0.5477520167739494,
+                    -0.8209573312401524
+                ],
+                [
+                    0.09223429921156857,
+                    -0.8198371540614013,
+                    -0.5651193456867791
+                ]
+            ],
+            "translation_vector": [
+                0.7054271772809192,
+                0.026029643696363652,
+                0.39959370102114405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9843592782853249,
+                    -0.1513815396372023,
+                    0.09011348795083081
+                ],
+                [
+                    -0.16025218517487905,
+                    0.5569139318494687,
+                    -0.8149638701553842
+                ],
+                [
+                    0.07318502852544817,
+                    -0.8166581304126199,
+                    -0.5724626185443848
+                ]
+            ],
+            "translation_vector": [
+                0.7042614885182149,
+                0.03204177496512855,
+                0.40589419600983107
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9853384716349544,
+                    -0.13937125544951698,
+                    0.09840604387189612
+                ],
+                [
+                    -0.16048062917667846,
+                    0.5613333784770862,
+                    -0.8118810293796486
+                ],
+                [
+                    0.057914281271111964,
+                    -0.8157698764737064,
+                    -0.5754697599899797
+                ]
+            ],
+            "translation_vector": [
+                0.7039502676348116,
+                0.03638368169319678,
+                0.41122570442300616
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9868167145973913,
+                    -0.12108898809161527,
+                    0.10737890274238773
+                ],
+                [
+                    -0.15756236844151805,
+                    0.5672409539663752,
+                    -0.8083389141903388
+                ],
+                [
+                    0.036971229926928514,
+                    -0.8146012258192749,
+                    -0.5788419223340902
+                ]
+            ],
+            "translation_vector": [
+                0.7027191989084558,
+                0.03994801007922999,
+                0.41669788678913505
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9877873435319422,
+                    -0.09267140278839213,
+                    0.12525244533876564
+                ],
+                [
+                    -0.15580114199103948,
+                    0.5798919539522185,
+                    -0.7996570051564397
+                ],
+                [
+                    0.0014724511526215196,
+                    -0.8094055428811381,
+                    -0.5872482431143523
+                ]
+            ],
+            "translation_vector": [
+                0.7020987267288271,
+                0.044470776601148496,
+                0.42272496765896317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9879696669637329,
+                    -0.06853088111768994,
+                    0.1386342507925229
+                ],
+                [
+                    -0.15211038334616084,
+                    0.5923515995199273,
+                    -0.7911902513456978
+                ],
+                [
+                    -0.02789925514875057,
+                    -0.8027596781599194,
+                    -0.595649671100999
+                ]
+            ],
+            "translation_vector": [
+                0.7014823971736176,
+                0.04867188232250241,
+                0.4275945423268417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9874121045684663,
+                    -0.047460117502925676,
+                    0.15088032674368612
+                ],
+                [
+                    -0.14881657859412245,
+                    0.6019153469054984,
+                    -0.7845709280206434
+                ],
+                [
+                    -0.05358135577990161,
+                    -0.7971483252232565,
+                    -0.6014013517664768
+                ]
+            ],
+            "translation_vector": [
+                0.7011467322913614,
+                0.051891545467511346,
+                0.4317089520912645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9859181910582193,
+                    -0.01274065194602273,
+                    0.16674230515522903
+                ],
+                [
+                    -0.13890972635775795,
+                    0.6175576464757835,
+                    -0.774161895989789
+                ],
+                [
+                    -0.09310965827293115,
+                    -0.7864224240618285,
+                    -0.6106311181630171
+                ]
+            ],
+            "translation_vector": [
+                0.6998704838143861,
+                0.05596548087588843,
+                0.4358231956864744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9838146968912665,
+                    0.015015952281566783,
+                    0.17855857122474686
+                ],
+                [
+                    -0.1293704787668834,
+                    0.6299595894075668,
+                    -0.7657768571438273
+                ],
+                [
+                    -0.12398355295914325,
+                    -0.7764827344445773,
+                    -0.6178208815709452
+                ]
+            ],
+            "translation_vector": [
+                0.6991093042887314,
+                0.05865357765137899,
+                0.43856059490569943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9807029903093225,
+                    0.045619668140278666,
+                    0.1901065245516951
+                ],
+                [
+                    -0.11709099107312708,
+                    0.6416440787725796,
+                    -0.758012253189618
+                ],
+                [
+                    -0.15656099325140443,
+                    -0.7656446447633912,
+                    -0.6239206146115667
+                ]
+            ],
+            "translation_vector": [
+                0.6980263928041281,
+                0.06092502465775615,
+                0.4412721761481552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9764250707989359,
+                    0.07293292043242194,
+                    0.20316217717009044
+                ],
+                [
+                    -0.10729052301893793,
+                    0.6527131844896434,
+                    -0.7499694943554115
+                ],
+                [
+                    -0.18730409708710577,
+                    -0.75408639286927,
+                    -0.6295005061982059
+                ]
+            ],
+            "translation_vector": [
+                0.6981704646934968,
+                0.06434392528969195,
+                0.44515073234772246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9724117518977367,
+                    0.09475975376380501,
+                    0.21315715760395781
+                ],
+                [
+                    -0.09907823225788971,
+                    0.6594802669019402,
+                    -0.7451639292528848
+                ],
+                [
+                    -0.2111844896383897,
+                    -0.7457253962643151,
+                    -0.6318977327879917
+                ]
+            ],
+            "translation_vector": [
+                0.6983485409120427,
+                0.06683177758080032,
+                0.44869324968593405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.968549320815165,
+                    0.11402625823530962,
+                    0.22115656350499008
+                ],
+                [
+                    -0.09091089315576079,
+                    0.6651981137226081,
+                    -0.7411117857688582
+                ],
+                [
+                    -0.23161913274620494,
+                    -0.7379088574700392,
+                    -0.6339109522741796
+                ]
+            ],
+            "translation_vector": [
+                0.6982871029028012,
+                0.06903951588116897,
+                0.4513730124823673
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.961829108421059,
+                    0.13948754415744213,
+                    0.23543150005654837
+                ],
+                [
+                    -0.08170448864297321,
+                    0.6747117093506027,
+                    -0.7335451491222462
+                ],
+                [
+                    -0.261168801217797,
+                    -0.7247808870894112,
+                    -0.6375606033784907
+                ]
+            ],
+            "translation_vector": [
+                0.6987443718930725,
+                0.07187380699610853,
+                0.453834832602219
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9551712260071663,
+                    0.1621795396159285,
+                    0.24768069351068184
+                ],
+                [
+                    -0.07270097848400783,
+                    0.6824975892700486,
+                    -0.7272630943255957
+                ],
+                [
+                    -0.2869886700471548,
+                    -0.712667410206569,
+                    -0.6401114478698438
+                ]
+            ],
+            "translation_vector": [
+                0.6987770697210319,
+                0.0735004338558016,
+                0.45534137844211775
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.950479493407464,
+                    0.17625475243618338,
+                    0.25597459806697703
+                ],
+                [
+                    -0.06671032655677214,
+                    0.6887303882029722,
+                    -0.7219419538276414
+                ],
+                [
+                    -0.3035431846419543,
+                    -0.7032671715709778,
+                    -0.6428660983812863
+                ]
+            ],
+            "translation_vector": [
+                0.6990472832521631,
+                0.07472082037249372,
+                0.4559580372731063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9461339070271247,
+                    0.18529459319171218,
+                    0.26551185229195795
+                ],
+                [
+                    -0.06366950672077015,
+                    0.6975593336945768,
+                    -0.7136926298411049
+                ],
+                [
+                    -0.3174536562831217,
+                    -0.6921538049519751,
+                    -0.6481869224251455
+                ]
+            ],
+            "translation_vector": [
+                0.7008205511533274,
+                0.07690224239383245,
+                0.4558380642023594
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9434123174203537,
+                    0.19197514335564358,
+                    0.2704047774599003
+                ],
+                [
+                    -0.05999609182558389,
+                    0.70313912513481,
+                    -0.7085166474193183
+                ],
+                [
+                    -0.32614976361361087,
+                    -0.6846465621313195,
+                    -0.6518323531833562
+                ]
+            ],
+            "translation_vector": [
+                0.7019231535688111,
+                0.07818398970805474,
+                0.45500648863900345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9394901667942126,
+                    0.2017799717251549,
+                    0.27684484735602083
+                ],
+                [
+                    -0.055425251169223054,
+                    0.7079510999764843,
+                    -0.7040832916458925
+                ],
+                [
+                    -0.3380625208889789,
+                    -0.6768235243050305,
+                    -0.6539293913852678
+                ]
+            ],
+            "translation_vector": [
+                0.7025582406370647,
+                0.07914280611669258,
+                0.454022875600553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9328773907043791,
+                    0.21616714309969645,
+                    0.28811723335598133
+                ],
+                [
+                    -0.048807907500799164,
+                    0.7166535569527628,
+                    -0.6957193884551067
+                ],
+                [
+                    -0.3568719127053614,
+                    -0.6630832870394711,
+                    -0.6579992343239832
+                ]
+            ],
+            "translation_vector": [
+                0.7037470990639717,
+                0.0802840500552299,
+                0.4522063911986694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9299098496294012,
+                    0.22083652894386066,
+                    0.29410695171357726
+                ],
+                [
+                    -0.04713218126407674,
+                    0.7215176711959062,
+                    -0.6907899880870646
+                ],
+                [
+                    -0.3647550260812251,
+                    -0.6562343161067273,
+                    -0.6605378818148289
+                ]
+            ],
+            "translation_vector": [
+                0.7050674336750016,
+                0.08096233370913812,
+                0.4507833796992816
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9276565187155446,
+                    0.22318338946400848,
+                    0.2994036705718779
+                ],
+                [
+                    -0.04658697542936906,
+                    0.7263285546311185,
+                    -0.685767077401514
+                ],
+                [
+                    -0.3705172560150205,
+                    -0.6501046111164167,
+                    -0.6633859793515934
+                ]
+            ],
+            "translation_vector": [
+                0.70686206107366,
+                0.08175027251612271,
+                0.448621748809608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9247743111053686,
+                    0.2259425975782209,
+                    0.3061738331719383
+                ],
+                [
+                    -0.046678403809718154,
+                    0.7311905322492727,
+                    -0.6805744133941584
+                ],
+                [
+                    -0.3776421588453395,
+                    -0.643669440123292,
+                    -0.6656395809400157
+                ]
+            ],
+            "translation_vector": [
+                0.7091532631273539,
+                0.08275347103811963,
+                0.44640509476824125
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9213223755026738,
+                    0.23017540037484965,
+                    0.31334384541648147
+                ],
+                [
+                    -0.046018948058380874,
+                    0.7357024290852929,
+                    -0.6757397370716035
+                ],
+                [
+                    -0.38606649274148386,
+                    -0.6369938939269965,
+                    -0.6672266798337823
+                ]
+            ],
+            "translation_vector": [
+                0.7109372357892927,
+                0.08371931645696036,
+                0.44479373872331024
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9187503398904492,
+                    0.23273366891696526,
+                    0.3189558783023639
+                ],
+                [
+                    -0.04540445929459151,
+                    0.7401783838984476,
+                    -0.6708758417812106
+                ],
+                [
+                    -0.3922196425822523,
+                    -0.630849426853929,
+                    -0.6694719953894409
+                ]
+            ],
+            "translation_vector": [
+                0.7127384151664681,
+                0.08465677015848677,
+                0.44308858175844273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9168212454785823,
+                    0.23313213601014984,
+                    0.3241731188708374
+                ],
+                [
+                    -0.04570863328826128,
+                    0.7452449314964682,
+                    -0.6652223033856759
+                ],
+                [
+                    -0.39667307027578813,
+                    -0.6247074509225657,
+                    -0.6726002349685959
+                ]
+            ],
+            "translation_vector": [
+                0.7152783354287612,
+                0.08627854986138692,
+                0.44088670116814505
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9162704659891923,
+                    0.2318554881719525,
+                    0.3266365958683967
+                ],
+                [
+                    -0.04695134687686495,
+                    0.747662276973124,
+                    -0.6624173085131552
+                ],
+                [
+                    -0.39779894944858396,
+                    -0.6222894440659504,
+                    -0.6741749354742387
+                ]
+            ],
+            "translation_vector": [
+                0.7171259808967537,
+                0.08759933663919699,
+                0.43991625218204633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9159109721575972,
+                    0.2306104116010581,
+                    0.3285208199528851
+                ],
+                [
+                    -0.04846100571638296,
+                    0.7489533533376226,
+                    -0.660848246913985
+                ],
+                [
+                    -0.39844525597161023,
+                    -0.6211986096133194,
+                    -0.674798981481298
+                ]
+            ],
+            "translation_vector": [
+                0.71869096618891,
+                0.08882656288671513,
+                0.4396381829040981
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.916167469349885,
+                    0.2279033720006112,
+                    0.3296926161377883
+                ],
+                [
+                    -0.05130312827621712,
+                    0.7491441128201933,
+                    -0.6604173583847717
+                ],
+                [
+                    -0.39749862532353736,
+                    -0.6219671625235508,
+                    -0.6746493100925114
+                ]
+            ],
+            "translation_vector": [
+                0.7207631861387631,
+                0.09072641287256097,
+                0.4401658378196314
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9169831851848252,
+                    0.2285943350773248,
+                    0.32693495998263655
+                ],
+                [
+                    -0.05029082722667547,
+                    0.7467581390360607,
+                    -0.663191612190818
+                ],
+                [
+                    -0.3957431879200817,
+                    -0.6245773865214426,
+                    -0.6732684586856089
+                ]
+            ],
+            "translation_vector": [
+                0.7208891185226882,
+                0.09158151049385974,
+                0.4410917755924315
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.917945814705226,
+                    0.23019881915534446,
+                    0.32308510477062297
+                ],
+                [
+                    -0.04809062660072598,
+                    0.7438417593664769,
+                    -0.66662337841973
+                ],
+                [
+                    -0.39378010729125074,
+                    -0.6274615053388295,
+                    -0.6717360243575015
+                ]
+            ],
+            "translation_vector": [
+                0.7205706924276384,
+                0.0922666794926779,
+                0.442229788900865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9185948735083703,
+                    0.23616363073522778,
+                    0.3168756820617458
+                ],
+                [
+                    -0.04144591182550851,
+                    0.7398200316010695,
+                    -0.6715270338822896
+                ],
+                [
+                    -0.3930212395750308,
+                    -0.6299944923249318,
+                    -0.6698068713316985
+                ]
+            ],
+            "translation_vector": [
+                0.7190075792482332,
+                0.09267232062741629,
+                0.44379879752470525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9198994422241721,
+                    0.24103954960172472,
+                    0.30932984292410953
+                ],
+                [
+                    -0.03422280785613572,
+                    0.736443252967379,
+                    -0.6756331360888592
+                ],
+                [
+                    -0.390658182581779,
+                    -0.6321006808148704,
+                    -0.6692046874426977
+                ]
+            ],
+            "translation_vector": [
+                0.7171613026123663,
+                0.09315644239399973,
+                0.445099351009032
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9212937088632187,
+                    0.2439105114372466,
+                    0.30286228622837014
+                ],
+                [
+                    -0.028654587602569764,
+                    0.7341329512912669,
+                    -0.6784008582229984
+                ],
+                [
+                    -0.38781028431229236,
+                    -0.6336848366805025,
+                    -0.6693629143766661
+                ]
+            ],
+            "translation_vector": [
+                0.7155794074752497,
+                0.09366623886396747,
+                0.44596519008756746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9237226904016368,
+                    0.24692186500579855,
+                    0.292858299898125
+                ],
+                [
+                    -0.02069496762500864,
+                    0.7312347726518988,
+                    -0.6818118696383378
+                ],
+                [
+                    -0.38250243077941576,
+                    -0.6358657876052023,
+                    -0.6703481115070394
+                ]
+            ],
+            "translation_vector": [
+                0.7130275673536899,
+                0.09502335770695498,
+                0.4473628493214506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9254811790145714,
+                    0.25038189028715274,
+                    0.2842419678830546
+                ],
+                [
+                    -0.013005837177988375,
+                    0.7289409562596469,
+                    -0.6844530155434857
+                ],
+                [
+                    -0.3785702517223175,
+                    -0.6371451885587018,
+                    -0.6713647095337955
+                ]
+            ],
+            "translation_vector": [
+                0.7104206298557751,
+                0.09628101509148519,
+                0.4487631813238025
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.926422977236616,
+                    0.2533982688685518,
+                    0.278441707692052
+                ],
+                [
+                    -0.007019952561960415,
+                    0.7278285534841014,
+                    -0.685723207277739
+                ],
+                [
+                    -0.3764188989863193,
+                    -0.6372243828257537,
+                    -0.6724982516098205
+                ]
+            ],
+            "translation_vector": [
+                0.7082179204905364,
+                0.09786265177583721,
+                0.450149736048008
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273911810179054,
+                    0.25649898498390067,
+                    0.2723120784549293
+                ],
+                [
+                    -0.0004887098742989484,
+                    0.7270947749434483,
+                    -0.6865369250175809
+                ],
+                [
+                    -0.3740927138195472,
+                    -0.6368213713060871,
+                    -0.6741759284600434
+                ]
+            ],
+            "translation_vector": [
+                0.7053005092302744,
+                0.10061752018187806,
+                0.4524596397742748
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9279395245952078,
+                    0.25972346669846264,
+                    0.2673424013136581
+                ],
+                [
+                    0.005354327846560288,
+                    0.7264678255156235,
+                    -0.6871796196511605
+                ],
+                [
+                    -0.37269232601078855,
+                    -0.6362296907066936,
+                    -0.6755088532328305
+                ]
+            ],
+            "translation_vector": [
+                0.702682015459829,
+                0.10265377987536461,
+                0.45437469035606726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9280521172273425,
+                    0.26365619860756856,
+                    0.2630678175787622
+                ],
+                [
+                    0.011555540786513848,
+                    0.7263592310534885,
+                    -0.6872181145317081
+                ],
+                [
+                    -0.37227105338311994,
+                    -0.6347343352924838,
+                    -0.6771459122034417
+                ]
+            ],
+            "translation_vector": [
+                0.6999485628605585,
+                0.10477788985472307,
+                0.4562332060302242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9276708581940311,
+                    0.26701986089141455,
+                    0.26101182491810504
+                ],
+                [
+                    0.01656569023934324,
+                    0.7277584202962543,
+                    -0.6856334732164081
+                ],
+                [
+                    -0.3730313080217853,
+                    -0.6317183514648205,
+                    -0.6795436466174383
+                ]
+            ],
+            "translation_vector": [
+                0.6970759681551159,
+                0.10814922200858532,
+                0.458815217568868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274743914484775,
+                    0.26891608047501825,
+                    0.2597602642230522
+                ],
+                [
+                    0.01984121479529494,
+                    0.7291779999123706,
+                    -0.6840363810786987
+                ],
+                [
+                    -0.37335985242487363,
+                    -0.6292722670718528,
+                    -0.6816295434409576
+                ]
+            ],
+            "translation_vector": [
+                0.6952234739332661,
+                0.11011768589677531,
+                0.4603616305963159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9263067777981827,
+                    0.2737347933207195,
+                    0.25889190085982156
+                ],
+                [
+                    0.026048869612034464,
+                    0.7320193047509169,
+                    -0.680785718022874
+                ],
+                [
+                    -0.37586860709173875,
+                    -0.6238725834636812,
+                    -0.6852049254093762
+                ]
+            ],
+            "translation_vector": [
+                0.6925952367175312,
+                0.11270728715615042,
+                0.4617728826862266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9250082863839513,
+                    0.27641916084345863,
+                    0.26067626980533676
+                ],
+                [
+                    0.03067212152952387,
+                    0.738173262182975,
+                    -0.6739135374504833
+                ],
+                [
+                    -0.37870686695900385,
+                    -0.6153801122206859,
+                    -0.6912947464008041
+                ]
+            ],
+            "translation_vector": [
+                0.6898762133801883,
+                0.11722959822130596,
+                0.4632345129967086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9253928185101228,
+                    0.27659729979335224,
+                    0.25911785966412565
+                ],
+                [
+                    0.034621173089643555,
+                    0.7425031548464959,
+                    -0.6689472620594974
+                ],
+                [
+                    -0.3774248346674977,
+                    -0.6100680280018184,
+                    -0.6966832102083305
+                ]
+            ],
+            "translation_vector": [
+                0.6873140266654852,
+                0.12082426428607608,
+                0.4641470159034598
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.926537737049581,
+                    0.2736066386945424,
+                    0.25819997886389495
+                ],
+                [
+                    0.036295621220738164,
+                    0.7481451991708007,
+                    -0.6625416129103769
+                ],
+                [
+                    -0.374446858316694,
+                    -0.6044982780951136,
+                    -0.7031154827457582
+                ]
+            ],
+            "translation_vector": [
+                0.6850316692724581,
+                0.12530485009614928,
+                0.4645612246162682
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9266040716793882,
+                    0.2715117469812501,
+                    0.2601658424896883
+                ],
+                [
+                    0.038310185394608835,
+                    0.756420372802167,
+                    -0.652962900404657
+                ],
+                [
+                    -0.3740818413692521,
+                    -0.5950710805114133,
+                    -0.7113038627033943
+                ]
+            ],
+            "translation_vector": [
+                0.6819860949106079,
+                0.13134497073565357,
+                0.4633765931094227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9261473127285955,
+                    0.27151702187337456,
+                    0.2617817066920722
+                ],
+                [
+                    0.041474218470040604,
+                    0.7631898970045741,
+                    -0.644841895593367
+                ],
+                [
+                    -0.3748747048386968,
+                    -0.5863613970438035,
+                    -0.7180872284959112
+                ]
+            ],
+            "translation_vector": [
+                0.6800444312085614,
+                0.1349618025523605,
+                0.46170999052210476
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9265884716343549,
+                    0.2656709654728832,
+                    0.2661817843861914
+                ],
+                [
+                    0.03996423145086413,
+                    0.7733362627737062,
+                    -0.6327352407474551
+                ],
+                [
+                    -0.37394740865374715,
+                    -0.575647429234166,
+                    -0.7271818017368449
+                ]
+            ],
+            "translation_vector": [
+                0.6790674601596809,
+                0.13982700616626448,
+                0.4593362615975224
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9276966566244296,
+                    0.2560204113414376,
+                    0.2717212951986208
+                ],
+                [
+                    0.03430598997137116,
+                    0.7832018731368269,
+                    -0.620820364491251
+                ],
+                [
+                    -0.37175531245691584,
+                    -0.5666113084748016,
+                    -0.7353567928349708
+                ]
+            ],
+            "translation_vector": [
+                0.678230417789594,
+                0.14573652714273586,
+                0.457037528649402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9279380861457314,
+                    0.250858647016145,
+                    0.27568251213565603
+                ],
+                [
+                    0.032366841028864474,
+                    0.7910593217578927,
+                    -0.6108825886058261
+                ],
+                [
+                    -0.371326400733922,
+                    -0.5579382480859076,
+                    -0.7421735750084469
+                ]
+            ],
+            "translation_vector": [
+                0.6771907386604405,
+                0.15016707734578624,
+                0.45484829100489005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9282764496959227,
+                    0.244826241221326,
+                    0.27993382173179887
+                ],
+                [
+                    0.0289059128903004,
+                    0.7979535181963816,
+                    -0.6020254404906787
+                ],
+                [
+                    -0.3707658036279934,
+                    -0.5507542958592829,
+                    -0.7477983848957113
+                ]
+            ],
+            "translation_vector": [
+                0.6769975937002182,
+                0.153869185218852,
+                0.45317364294325146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9285373184535793,
+                    0.23061353426033668,
+                    0.29092240555686366
+                ],
+                [
+                    0.016769364856458992,
+                    0.8089076737498695,
+                    -0.5876964894832071
+                ],
+                [
+                    -0.3708601308328339,
+                    -0.5408195384456177,
+                    -0.754968204757076
+                ]
+            ],
+            "translation_vector": [
+                0.6777764941627782,
+                0.16104155480018156,
+                0.4513187944620412
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9280231624337881,
+                    0.22187092715200238,
+                    0.29924288073586996
+                ],
+                [
+                    0.008580672779067879,
+                    0.8158063363942716,
+                    -0.5782615269526546
+                ],
+                [
+                    -0.372423659346516,
+                    -0.5340723857153336,
+                    -0.7589909780592142
+                ]
+            ],
+            "translation_vector": [
+                0.6781355098433475,
+                0.16628588607279157,
+                0.4504362780988229
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9260986664036249,
+                    0.21714041017528216,
+                    0.30853087747312696
+                ],
+                [
+                    0.0024272464855864227,
+                    0.8211860556538307,
+                    -0.5706553867915396
+                ],
+                [
+                    -0.37727359907622166,
+                    -0.5277343121956483,
+                    -0.7610263643077424
+                ]
+            ],
+            "translation_vector": [
+                0.6785352667268632,
+                0.17051688085525796,
+                0.4500417192472404
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9217891866677892,
+                    0.20960559941122178,
+                    0.3261444281875726
+                ],
+                [
+                    -0.008751091041914679,
+                    0.8297837084693276,
+                    -0.5580165011578662
+                ],
+                [
+                    -0.3875927163246394,
+                    -0.5172276963333975,
+                    -0.7630513720567804
+                ]
+            ],
+            "translation_vector": [
+                0.6798369224173689,
+                0.1772351040986956,
+                0.44977297336157135
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9190095994120465,
+                    0.2090916541599624,
+                    0.33421854578877097
+                ],
+                [
+                    -0.011840585139499446,
+                    0.832742727598196,
+                    -0.5535335131461071
+                ],
+                [
+                    -0.39405730133073835,
+                    -0.5126599553241582,
+                    -0.7628227929702732
+                ]
+            ],
+            "translation_vector": [
+                0.6804044522564695,
+                0.17929846685827122,
+                0.4495429768634101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.913686250115872,
+                    0.20718344349577225,
+                    0.34964618843972955
+                ],
+                [
+                    -0.01752825779404362,
+                    0.8394183186158289,
+                    -0.543203135623204
+                ],
+                [
+                    -0.4060421117666273,
+                    -0.502445924566425,
+                    -0.7633334110064152
+                ]
+            ],
+            "translation_vector": [
+                0.6818066112371027,
+                0.1832754047358044,
+                0.44834785152221557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9084853524942255,
+                    0.20155177867260549,
+                    0.3661027790352764
+                ],
+                [
+                    -0.025877897134335984,
+                    0.8472072416688353,
+                    -0.5306319101823684
+                ],
+                [
+                    -0.41711473091147006,
+                    -0.4915452880231825,
+                    -0.76445963338744
+                ]
+            ],
+            "translation_vector": [
+                0.6845824674742043,
+                0.18701276757440233,
+                0.44618562765481473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9051333875275563,
+                    0.19750655203183892,
+                    0.37646342808749056
+                ],
+                [
+                    -0.031293413751232846,
+                    0.8521745437110072,
+                    -0.522321040459535
+                ],
+                [
+                    -0.4239743778091842,
+                    -0.4845510385454061,
+                    -0.7651509772625819
+                ]
+            ],
+            "translation_vector": [
+                0.6869006197043649,
+                0.18894321948849646,
+                0.44424565216217704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9023779558008801,
+                    0.19377031123537058,
+                    0.3849247866380821
+                ],
+                [
+                    -0.03613315471371114,
+                    0.8560444393975777,
+                    -0.5156377729636598
+                ],
+                [
+                    -0.4294280149397107,
+                    -0.47920870636940177,
+                    -0.7654740986635047
+                ]
+            ],
+            "translation_vector": [
+                0.6891230124607138,
+                0.1901933228666562,
+                0.44259412180289015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8983764652501462,
+                    0.18916797675268174,
+                    0.3964028295256607
+                ],
+                [
+                    -0.042804143978007234,
+                    0.8605002777942456,
+                    -0.5076485764525855
+                ],
+                [
+                    -0.43713559903417054,
+                    -0.4730272174910481,
+                    -0.7649560245986132
+                ]
+            ],
+            "translation_vector": [
+                0.6928863366113429,
+                0.19094752103857293,
+                0.44013520225169744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8959009892122252,
+                    0.18856985186881808,
+                    0.40224722310381217
+                ],
+                [
+                    -0.04496776117264514,
+                    0.8623022345422817,
+                    -0.5043934543176661
+                ],
+                [
+                    -0.4419720782851288,
+                    -0.4699747517362605,
+                    -0.7640578608631445
+                ]
+            ],
+            "translation_vector": [
+                0.6951474909669455,
+                0.19039731172989646,
+                0.43834537683343283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8937387163243944,
+                    0.1896811006881802,
+                    0.40651222242946644
+                ],
+                [
+                    -0.045287625743192554,
+                    0.8634221094301942,
+                    -0.5024453123491736
+                ],
+                [
+                    -0.44629602048121375,
+                    -0.46746480187157896,
+                    -0.7630835610297193
+                ]
+            ],
+            "translation_vector": [
+                0.6967994036218038,
+                0.1897113188805536,
+                0.43675502141387706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8885334532252563,
+                    0.19397771896706104,
+                    0.4157895465784794
+                ],
+                [
+                    -0.04448032310227989,
+                    0.8655436476008052,
+                    -0.4988543825151892
+                ],
+                [
+                    -0.45665063599683986,
+                    -0.46174326052713516,
+                    -0.7604362945056294
+                ]
+            ],
+            "translation_vector": [
+                0.6995785898616157,
+                0.18867798853724554,
+                0.43484781493626773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8824269438631026,
+                    0.20154235932469558,
+                    0.4250921854636478
+                ],
+                [
+                    -0.039493395581492355,
+                    0.8686624393306648,
+                    -0.49382774142563485
+                ],
+                [
+                    -0.46878882287216367,
+                    -0.4525552385001583,
+                    -0.7585715494639887
+                ]
+            ],
+            "translation_vector": [
+                0.7016500032608721,
+                0.18762536649804584,
+                0.43277142659560874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8804818609518216,
+                    0.20509313144448407,
+                    0.4274207528526349
+                ],
+                [
+                    -0.035321350322622645,
+                    0.8706942974080597,
+                    -0.4905546276129426
+                ],
+                [
+                    -0.4727621968243698,
+                    -0.44702152956583846,
+                    -0.7593863689574727
+                ]
+            ],
+            "translation_vector": [
+                0.7027070891929376,
+                0.1867247613115728,
+                0.43110880934011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8783032931520989,
+                    0.2085024175711529,
+                    0.430244194737318
+                ],
+                [
+                    -0.03146364414522432,
+                    0.8727391673540867,
+                    -0.4871718227311577
+                ],
+                [
+                    -0.4770674630859678,
+                    -0.44142166647445,
+                    -0.7599694388800373
+                ]
+            ],
+            "translation_vector": [
+                0.7045611688308407,
+                0.18572824146022915,
+                0.42881753869779715
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8743343560755843,
+                    0.2156249357973793,
+                    0.43479342318883984
+                ],
+                [
+                    -0.025478781739774806,
+                    0.8742537958954251,
+                    -0.4848000949293405
+                ],
+                [
+                    -0.4846547899969116,
+                    -0.4349553855567451,
+                    -0.7588962690040275
+                ]
+            ],
+            "translation_vector": [
+                0.7052929399603705,
+                0.1853354203667604,
+                0.4279218036013469
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8694184676085409,
+                    0.22323343433766774,
+                    0.4407701917950286
+                ],
+                [
+                    -0.018334771464976418,
+                    0.8769176004533888,
+                    -0.48029090993938006
+                ],
+                [
+                    -0.4937361282472078,
+                    -0.4256552076609433,
+                    -0.7583154224032214
+                ]
+            ],
+            "translation_vector": [
+                0.7064467849488522,
+                0.1852060588771613,
+                0.4269864147733568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8649359826676818,
+                    0.22791517930082356,
+                    0.4471469746414097
+                ],
+                [
+                    -0.0128893936243483,
+                    0.8805586617223647,
+                    -0.4737618671840475
+                ],
+                [
+                    -0.5017166624885888,
+                    -0.41553713950739946,
+                    -0.7586891829143998
+                ]
+            ],
+            "translation_vector": [
+                0.7086832389426739,
+                0.18548171009499462,
+                0.42563121144695326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8619755530199771,
+                    0.23131588664735397,
+                    0.45109988536958556
+                ],
+                [
+                    -0.009552631040602432,
+                    0.8822621147077706,
+                    -0.4706615643873792
+                ],
+                [
+                    -0.5068598358877007,
+                    -0.4100079530154525,
+                    -0.758278698914833
+                ]
+            ],
+            "translation_vector": [
+                0.7101283609023205,
+                0.1854139945387264,
+                0.42485039873739056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8585809905191725,
+                    0.23406845506561863,
+                    0.4561256855980722
+                ],
+                [
+                    -0.006478813755607768,
+                    0.8846676634026506,
+                    -0.46617716621689576
+                ],
+                [
+                    -0.5126370135792353,
+                    -0.4032060064940621,
+                    -0.7580423527980964
+                ]
+            ],
+            "translation_vector": [
+                0.7120584937926188,
+                0.18541740466293066,
+                0.42399650725986276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8558367864259082,
+                    0.23550764885791037,
+                    0.4605209466784263
+                ],
+                [
+                    -0.005827921364405531,
+                    0.8858855621719137,
+                    -0.4638672289221597
+                ],
+                [
+                    -0.5172131382058514,
+                    -0.3996785183929358,
+                    -0.7568009326120597
+                ]
+            ],
+            "translation_vector": [
+                0.7145944392384925,
+                0.18501875982271793,
+                0.42378194437913247
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8526999146004853,
+                    0.24058693191897818,
+                    0.4637033360135966
+                ],
+                [
+                    -0.0016868003823964002,
+                    0.886365960289608,
+                    -0.46298222335674144
+                ],
+                [
+                    -0.5223983253656117,
+                    -0.3955670772823424,
+                    -0.7553983565149652
+                ]
+            ],
+            "translation_vector": [
+                0.7157583906930882,
+                0.18456962189244522,
+                0.42327945216638957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8504694457542902,
+                    0.24346115599919554,
+                    0.466292169522421
+                ],
+                [
+                    0.0013902810992490048,
+                    0.8874830631196088,
+                    -0.4608382360376599
+                ],
+                [
+                    -0.5260226125908046,
+                    -0.3912805619953185,
+                    -0.7551157082512404
+                ]
+            ],
+            "translation_vector": [
+                0.7166547407101848,
+                0.18454859077577515,
+                0.422585756595658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8483152659537139,
+                    0.24626918501818998,
+                    0.4687352110310854
+                ],
+                [
+                    0.00472154795835355,
+                    0.8887385757031715,
+                    -0.45839006429238327
+                ],
+                [
+                    -0.5294704113874134,
+                    -0.3866461335220811,
+                    -0.7550932729786889
+                ]
+            ],
+            "translation_vector": [
+                0.7178246316789245,
+                0.18437690800722178,
+                0.4216954349405473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8455349181715538,
+                    0.2507979245216662,
+                    0.47135029777040405
+                ],
+                [
+                    0.009599072314185882,
+                    0.8898083794646963,
+                    -0.45623338944570774
+                ],
+                [
+                    -0.5338338317897536,
+                    -0.38123673601849584,
+                    -0.7547714827327761
+                ]
+            ],
+            "translation_vector": [
+                0.7186209800072048,
+                0.18420632183383573,
+                0.42047470637676104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8433806746034391,
+                    0.2541440863592689,
+                    0.4734129498377297
+                ],
+                [
+                    0.014256319395532797,
+                    0.8913428894837013,
+                    -0.4531055183112863
+                ],
+                [
+                    -0.5371273546029292,
+                    -0.3753913114810455,
+                    -0.7553645267033662
+                ]
+            ],
+            "translation_vector": [
+                0.7191936384646453,
+                0.1841980745329178,
+                0.419189940945659
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8388907744205627,
+                    0.260125638623746,
+                    0.47811810332035837
+                ],
+                [
+                    0.020943081150243223,
+                    0.8931849872401061,
+                    -0.44920147586670506
+                ],
+                [
+                    -0.5438967327940138,
+                    -0.36681770772344147,
+                    -0.754732478005629
+                ]
+            ],
+            "translation_vector": [
+                0.7197988687041796,
+                0.18430618857174652,
+                0.41800681432499426
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8343504255719014,
+                    0.2658825712822464,
+                    0.4828724734713378
+                ],
+                [
+                    0.02798381219798099,
+                    0.89528461683556,
+                    -0.4446148458075514
+                ],
+                [
+                    -0.5505236358257971,
+                    -0.35745197320191957,
+                    -0.754421509006205
+                ]
+            ],
+            "translation_vector": [
+                0.7201706601082198,
+                0.1844343065083926,
+                0.41679655068256843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8323383584798623,
+                    0.26626649030257604,
+                    0.4861224260872945
+                ],
+                [
+                    0.03097939459363775,
+                    0.8980308188559546,
+                    -0.43884043284036167
+                ],
+                [
+                    -0.5534014222186826,
+                    -0.35020394704636415,
+                    -0.755714272301038
+                ]
+            ],
+            "translation_vector": [
+                0.7211842281111989,
+                0.1846818378522427,
+                0.41539847037894156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8324076223617517,
+                    0.2654415730279467,
+                    0.4864548504666235
+                ],
+                [
+                    0.031009595109042373,
+                    0.8987536455336926,
+                    -0.43735602162434156
+                ],
+                [
+                    -0.5532955405976349,
+                    -0.34897371813411326,
+                    -0.7563606208723614
+                ]
+            ],
+            "translation_vector": [
+                0.7217670274027622,
+                0.18448688728249613,
+                0.41455992934232133
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8325655729334391,
+                    0.26451564908724895,
+                    0.4866888514790183
+                ],
+                [
+                    0.030025329227850162,
+                    0.8988749050701395,
+                    -0.43717546207433444
+                ],
+                [
+                    -0.5531121462875082,
+                    -0.3493642460571774,
+                    -0.7563144697849744
+                ]
+            ],
+            "translation_vector": [
+                0.7223179194309896,
+                0.18430048834402404,
+                0.41411161808109875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8316348749189733,
+                    0.2646417205444484,
+                    0.48820917091527305
+                ],
+                [
+                    0.029258127298395546,
+                    0.8988045189961841,
+                    -0.43737215116995043
+                ],
+                [
+                    -0.55455152763787,
+                    -0.3494498481603809,
+                    -0.7552201048801551
+                ]
+            ],
+            "translation_vector": [
+                0.722907738144717,
+                0.18409809504790806,
+                0.41390117252318126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8294791710159267,
+                    0.2668757878634072,
+                    0.4906542761487128
+                ],
+                [
+                    0.030386003802828267,
+                    0.8987230932182101,
+                    -0.4374625612428884
+                ],
+                [
+                    -0.5577104944535526,
+                    -0.34795705994932624,
+                    -0.7535813750404103
+                ]
+            ],
+            "translation_vector": [
+                0.7232240694262951,
+                0.18382095055089148,
+                0.4136303196826713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8283601158445568,
+                    0.26827866910513165,
+                    0.4917784808032701
+                ],
+                [
+                    0.031450063638027576,
+                    0.8987554895141059,
+                    -0.4373207787944962
+                ],
+                [
+                    -0.5593124457538533,
+                    -0.3467926264663653,
+                    -0.7529305826259176
+                ]
+            ],
+            "translation_vector": [
+                0.7233462059001139,
+                0.18349753169295852,
+                0.41340522012266456
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.827757907786832,
+                    0.2689216237071487,
+                    0.4924408658905934
+                ],
+                [
+                    0.0318978766101539,
+                    0.8987926319261522,
+                    -0.43721199693400936
+                ],
+                [
+                    -0.5601779820415383,
+                    -0.34619786986342294,
+                    -0.7525607373082249
+                ]
+            ],
+            "translation_vector": [
+                0.723452797614495,
+                0.18320260209651767,
+                0.41318391372187063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8267457053243851,
+                    0.2704922921407594,
+                    0.4932803043099568
+                ],
+                [
+                    0.033198998655130874,
+                    0.8987544362397164,
+                    -0.4371936525473887
+                ],
+                [
+                    -0.5615953749951847,
+                    -0.34507156247924614,
+                    -0.7520214435454287
+                ]
+            ],
+            "translation_vector": [
+                0.7233455184882379,
+                0.18275555091762052,
+                0.4128118891862096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8234427312807178,
+                    0.2771071851531567,
+                    0.495129958937496
+                ],
+                [
+                    0.040086060653718995,
+                    0.8988615971928814,
+                    -0.4363953904810747
+                ],
+                [
+                    -0.5659816039786264,
+                    -0.3394988026906095,
+                    -0.751269184067485
+                ]
+            ],
+            "translation_vector": [
+                0.7224515708733714,
+                0.18214706011293696,
+                0.41214569746823787
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8222509131157082,
+                    0.28033509145132307,
+                    0.4952935214409359
+                ],
+                [
+                    0.04470885515007156,
+                    0.8993992831448311,
+                    -0.4348356560238989
+                ],
+                [
+                    -0.5673663315280123,
+                    -0.33540000891404725,
+                    -0.7520653428186299
+                ]
+            ],
+            "translation_vector": [
+                0.7218308531851271,
+                0.18163748488365178,
+                0.4115136626194501
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.821289125062553,
+                    0.2825505577901996,
+                    0.4956302607251031
+                ],
+                [
+                    0.04858465565729826,
+                    0.9002289278423234,
+                    -0.4326978260986796
+                ],
+                [
+                    -0.5684397103375592,
+                    -0.33128999346238713,
+                    -0.7530758500596364
+                ]
+            ],
+            "translation_vector": [
+                0.721372928494927,
+                0.1811298636983036,
+                0.4108375721892001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.81822379245245,
+                    0.28638576693433976,
+                    0.4984907400967045
+                ],
+                [
+                    0.05291492796361181,
+                    0.9009268368957534,
+                    -0.43073291603918396
+                ],
+                [
+                    -0.5724594622008933,
+                    -0.32605831849293915,
+                    -0.7523138554341676
+                ]
+            ],
+            "translation_vector": [
+                0.7211084059574243,
+                0.18084417349759807,
+                0.4103011571605534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8160152940999913,
+                    0.28952942235263335,
+                    0.5002916683166484
+                ],
+                [
+                    0.058217944100334,
+                    0.9022767925554368,
+                    -0.427208685071598
+                ],
+                [
+                    -0.5750910456437617,
+                    -0.31948286841084916,
+                    -0.7531274699626492
+                ]
+            ],
+            "translation_vector": [
+                0.7206225560207034,
+                0.18062682340538594,
+                0.40944884981745455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.814902702357783,
+                    0.2890748330444952,
+                    0.5023637393266754
+                ],
+                [
+                    0.05934160383021153,
+                    0.9038029688589372,
+                    -0.4238145438002686
+                ],
+                [
+                    -0.5765519575414179,
+                    -0.3155565470435827,
+                    -0.7536656459419458
+                ]
+            ],
+            "translation_vector": [
+                0.7209517501510637,
+                0.18037244777379685,
+                0.408844606437809
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8129582319013761,
+                    0.28958011988707805,
+                    0.5052150703907933
+                ],
+                [
+                    0.05990468317329267,
+                    0.904572538727183,
+                    -0.4220899798793693
+                ],
+                [
+                    -0.5792325458032344,
+                    -0.31287677501988614,
+                    -0.7527268970453093
+                ]
+            ],
+            "translation_vector": [
+                0.721309099077667,
+                0.18019531526502602,
+                0.4087503148063303
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8102307224125993,
+                    0.289998307071964,
+                    0.5093399241706392
+                ],
+                [
+                    0.0603052417143154,
+                    0.9056515896233229,
+                    -0.4197123729824115
+                ],
+                [
+                    -0.5830003896058179,
+                    -0.30934799192518414,
+                    -0.7512751597193407
+                ]
+            ],
+            "translation_vector": [
+                0.7219272044764415,
+                0.18008681541169258,
+                0.4086043194911832
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8089230721694728,
+                    0.2892431633749615,
+                    0.5118416315157913
+                ],
+                [
+                    0.05945273129924831,
+                    0.906387782822848,
+                    -0.4182422263360566
+                ],
+                [
+                    -0.5849007061484549,
+                    -0.30789540365248574,
+                    -0.7503942859302115
+                ]
+            ],
+            "translation_vector": [
+                0.7225336324935945,
+                0.1798045621368349,
+                0.4085726803871894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8083059371478402,
+                    0.2884484674946165,
+                    0.513263084169862
+                ],
+                [
+                    0.05839309394730053,
+                    0.9067432471514948,
+                    -0.4176205578326154
+                ],
+                [
+                    -0.5858598454842364,
+                    -0.30759415687748415,
+                    -0.7497693486026328
+                ]
+            ],
+            "translation_vector": [
+                0.7229871993934545,
+                0.17956824607546257,
+                0.4085953545110794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8070918535944651,
+                    0.2887153232606744,
+                    0.5150205840312935
+                ],
+                [
+                    0.058367740588078365,
+                    0.907029103712618,
+                    -0.4170028919287345
+                ],
+                [
+                    -0.5875337834712938,
+                    -0.3064990491547556,
+                    -0.7489074616714256
+                ]
+            ],
+            "translation_vector": [
+                0.7232558693818718,
+                0.17932539194283698,
+                0.408632555601687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8074011739165424,
+                    0.2876462555323772,
+                    0.5151339398995097
+                ],
+                [
+                    0.05725479414691466,
+                    0.9071823950248555,
+                    -0.4168236925897591
+                ],
+                [
+                    -0.58721821574725,
+                    -0.307050051026164,
+                    -0.7489292578471258
+                ]
+            ],
+            "translation_vector": [
+                0.7234533297717544,
+                0.179101847449047,
+                0.4087093339973308
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8076403812972344,
+                    0.28703283102861576,
+                    0.5151011244500993
+                ],
+                [
+                    0.05644949769363005,
+                    0.9071558878876225,
+                    -0.41699118609505037
+                ],
+                [
+                    -0.5869671785612849,
+                    -0.3077017207987604,
+                    -0.7488585863227363
+                ]
+            ],
+            "translation_vector": [
+                0.7235578386312225,
+                0.17891191058911185,
+                0.4086282930062042
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8079011371418603,
+                    0.28672323888259243,
+                    0.5148645811177587
+                ],
+                [
+                    0.055979050268425916,
+                    0.9070488707641413,
+                    -0.4172873014800968
+                ],
+                [
+                    -0.5866533035242658,
+                    -0.3083052551128054,
+                    -0.7488563087361244
+                ]
+            ],
+            "translation_vector": [
+                0.7235795500110549,
+                0.17869629150063568,
+                0.4085931253461118
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8105986789680101,
+                    0.2836034143948171,
+                    0.5123464501671882
+                ],
+                [
+                    0.051293425379850856,
+                    0.9059281740871388,
+                    -0.42031313078221233
+                ],
+                [
+                    -0.5833513231047985,
+                    -0.31442526415468774,
+                    -0.7488911717286675
+                ]
+            ],
+            "translation_vector": [
+                0.7238420100110673,
+                0.1776315609712839,
+                0.40919091081348297
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8124829320167848,
+                    0.28273333166689896,
+                    0.5098365898461432
+                ],
+                [
+                    0.047637793697934146,
+                    0.9038012293597216,
+                    -0.42529281491632265
+                ],
+                [
+                    -0.5810353911707979,
+                    -0.3212556629421367,
+                    -0.7477918649160383
+                ]
+            ],
+            "translation_vector": [
+                0.7236403153546352,
+                0.17660555675047854,
+                0.4099918410213402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8151374900983333,
+                    0.280856375053567,
+                    0.5066266562548404
+                ],
+                [
+                    0.0409961642406929,
+                    0.900376165627968,
+                    -0.43317672477480673
+                ],
+                [
+                    -0.5778150108414805,
+                    -0.332328838593416,
+                    -0.7454444018740846
+                ]
+            ],
+            "translation_vector": [
+                0.7234649015948686,
+                0.17532170396588742,
+                0.41170303253024193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8188985817648012,
+                    0.27555160670831624,
+                    0.5034644226001108
+                ],
+                [
+                    0.029817157031201885,
+                    0.8964508220032342,
+                    -0.4421389610476586
+                ],
+                [
+                    -0.5731631965942807,
+                    -0.34705509039659943,
+                    -0.7423184722877605
+                ]
+            ],
+            "translation_vector": [
+                0.7237543090289527,
+                0.17449382012437675,
+                0.4147260058369855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8245581872452123,
+                    0.26762291614734407,
+                    0.49847945855339043
+                ],
+                [
+                    0.017664325201478717,
+                    0.8928004126972974,
+                    -0.45010598163400645
+                ],
+                [
+                    -0.5655013416978479,
+                    -0.362333269022219,
+                    -0.7408932680876558
+                ]
+            ],
+            "translation_vector": [
+                0.724107113226129,
+                0.17410233618543935,
+                0.4173285936557362
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8332947392895242,
+                    0.25645137179797145,
+                    0.4897474567318783
+                ],
+                [
+                    -0.0005335216395553909,
+                    0.8855197775395635,
+                    -0.4646013763872671
+                ],
+                [
+                    -0.5528287192495199,
+                    -0.3874111736762654,
+                    -0.7377621498042
+                ]
+            ],
+            "translation_vector": [
+                0.724164349231877,
+                0.17386320291437973,
+                0.42137883009213534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8429638095143613,
+                    0.24523208960868262,
+                    0.4788248511462146
+                ],
+                [
+                    -0.01979234227814116,
+                    0.8753183043190464,
+                    -0.4831419349540821
+                ],
+                [
+                    -0.537606063057496,
+                    -0.4167482313701987,
+                    -0.7330079348913157
+                ]
+            ],
+            "translation_vector": [
+                0.7237936886298104,
+                0.17379886560563718,
+                0.42648195395675037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8524923054305907,
+                    0.2322333322580517,
+                    0.4683209888206573
+                ],
+                [
+                    -0.037695300871240414,
+                    0.8662540288221241,
+                    -0.49817970838008424
+                ],
+                [
+                    -0.5213788770883065,
+                    -0.4423478686935889,
+                    -0.7297207887873118
+                ]
+            ],
+            "translation_vector": [
+                0.7234578071419968,
+                0.17463556579924455,
+                0.4310916871362015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8661999068813242,
+                    0.21134162983712973,
+                    0.4528050759615793
+                ],
+                [
+                    -0.06266996700524675,
+                    0.8530573237246885,
+                    -0.5180402278542026
+                ],
+                [
+                    -0.4957521523446441,
+                    -0.47710367629841044,
+                    -0.7256734014060285
+                ]
+            ],
+            "translation_vector": [
+                0.7233257107197536,
+                0.17603592358850972,
+                0.4366832683937516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8889026647586195,
+                    0.17308488321122487,
+                    0.4241387459178677
+                ],
+                [
+                    -0.10209515590976387,
+                    0.8277334485057268,
+                    -0.5517553056968082
+                ],
+                [
+                    -0.4465743294511967,
+                    -0.5337592729204562,
+                    -0.718103339949509
+                ]
+            ],
+            "translation_vector": [
+                0.72291215197042,
+                0.17865220006079907,
+                0.4442719755248845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9050266212728222,
+                    0.14339477671326128,
+                    0.400455681441597
+                ],
+                [
+                    -0.12884230227700325,
+                    0.8048164617494452,
+                    -0.5793704549259183
+                ],
+                [
+                    -0.4053720216436517,
+                    -0.5759413172437434,
+                    -0.7099050099556146
+                ]
+            ],
+            "translation_vector": [
+                0.7215164313470289,
+                0.18189390769242178,
+                0.44884805700519126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9170674419848732,
+                    0.1209028203662007,
+                    0.3799602806594661
+                ],
+                [
+                    -0.14681441718926813,
+                    0.7835872443469845,
+                    -0.6036858101712145
+                ],
+                [
+                    -0.3707193463480123,
+                    -0.6094042488563716,
+                    -0.700852072636662
+                ]
+            ],
+            "translation_vector": [
+                0.7194322707826447,
+                0.18473425742174773,
+                0.4518420800755444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9349591247141038,
+                    0.07555672575530385,
+                    0.3466159492968762
+                ],
+                [
+                    -0.17575831736750822,
+                    0.7500587581223063,
+                    -0.6375898942425028
+                ],
+                [
+                    -0.30815653325863324,
+                    -0.657041125468689,
+                    -0.6879945569936288
+                ]
+            ],
+            "translation_vector": [
+                0.7153534352472005,
+                0.19290730070346065,
+                0.45408961482010557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9438140520543686,
+                    0.03985084848489071,
+                    0.32806545843740886
+                ],
+                [
+                    -0.1958222310184797,
+                    0.7322219938978954,
+                    -0.6523071404569595
+                ],
+                [
+                    -0.26621173712602936,
+                    -0.679899155409995,
+                    -0.6832777250058115
+                ]
+            ],
+            "translation_vector": [
+                0.713711441891142,
+                0.19975670489630964,
+                0.4537770858949283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9493794141525069,
+                    0.001974431801291017,
+                    0.3141254997648317
+                ],
+                [
+                    -0.21874369166941643,
+                    0.7135388970388055,
+                    -0.6655925478605368
+                ],
+                [
+                    -0.22545492972715958,
+                    -0.7006128346181703,
+                    -0.6769872455445629
+                ]
+            ],
+            "translation_vector": [
+                0.7119680594583647,
+                0.2080987081095607,
+                0.45226601818428713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9542223458327409,
+                    -0.02290794950214444,
+                    0.29821961800503444
+                ],
+                [
+                    -0.23042830763620026,
+                    0.6919803551594789,
+                    -0.684153479208634
+                ],
+                [
+                    -0.19068956382922006,
+                    -0.7215527797209083,
+                    -0.6655817578056457
+                ]
+            ],
+            "translation_vector": [
+                0.7070205598103324,
+                0.21515155029659416,
+                0.4519824265773041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9558342948080658,
+                    -0.04103292445445025,
+                    0.29102766188024554
+                ],
+                [
+                    -0.23984443654374976,
+                    0.6812093962005948,
+                    -0.6916851919674385
+                ],
+                [
+                    -0.16986891159885117,
+                    -0.7309377932756908,
+                    -0.6609648214795439
+                ]
+            ],
+            "translation_vector": [
+                0.7047795290153249,
+                0.21984456963485846,
+                0.4513486259995714
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9571969354000027,
+                    -0.06284253369811024,
+                    0.2825329057282441
+                ],
+                [
+                    -0.2507554533284807,
+                    0.6675666668352714,
+                    -0.7010538124541325
+                ],
+                [
+                    -0.14455355231495037,
+                    -0.7418932276876826,
+                    -0.6547508756956965
+                ]
+            ],
+            "translation_vector": [
+                0.7012097653742132,
+                0.2259824902159809,
+                0.4497990700700211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9590907075858432,
+                    -0.07492921748630366,
+                    0.2730029798177605
+                ],
+                [
+                    -0.25411685147285096,
+                    0.6529002194894223,
+                    -0.713544623123312
+                ],
+                [
+                    -0.12477836519209293,
+                    -0.7537286751594068,
+                    -0.6452313103240064
+                ]
+            ],
+            "translation_vector": [
+                0.6958848576931679,
+                0.2308243161106049,
+                0.4491351248985909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9586873470196581,
+                    -0.08666131953488124,
+                    0.27093982055224614
+                ],
+                [
+                    -0.2614255041784581,
+                    0.6438891297522156,
+                    -0.7190712720947585
+                ],
+                [
+                    -0.11213953999124977,
+                    -0.7601951093524666,
+                    -0.6399438407291246
+                ]
+            ],
+            "translation_vector": [
+                0.6920771311962642,
+                0.2362686643419387,
+                0.44881480952502734
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9588782047711236,
+                    -0.09278777883797239,
+                    0.2682219538241094
+                ],
+                [
+                    -0.26405742321057635,
+                    0.6381183175551055,
+                    -0.7232417922438058
+                ],
+                [
+                    -0.10404934244048683,
+                    -0.7643267893374911,
+                    -0.6363790485541971
+                ]
+            ],
+            "translation_vector": [
+                0.6889114690358727,
+                0.23943967388774978,
+                0.4483019036904223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9614380035971706,
+                    -0.10612424726363694,
+                    0.2537215193510664
+                ],
+                [
+                    -0.26253757650906384,
+                    0.6289547030953475,
+                    -0.7317718239827159
+                ],
+                [
+                    -0.08192060888344609,
+                    -0.770164674337229,
+                    -0.6325625567824861
+                ]
+            ],
+            "translation_vector": [
+                0.6819595537127017,
+                0.24370333497565433,
+                0.44617911824230266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9626226886358713,
+                    -0.11596476936090293,
+                    0.24476464530344128
+                ],
+                [
+                    -0.26222170319482574,
+                    0.6252638971381395,
+                    -0.7350407045254238
+                ],
+                [
+                    -0.06780367023289775,
+                    -0.7717494614204141,
+                    -0.6323016931024696
+                ]
+            ],
+            "translation_vector": [
+                0.6781133345863101,
+                0.24628130428153333,
+                0.4440725033073123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9630549859569985,
+                    -0.12403265012408167,
+                    0.23904182840365604
+                ],
+                [
+                    -0.26287955341954433,
+                    0.625703771306484,
+                    -0.7344311614894786
+                ],
+                [
+                    -0.058475930238917666,
+                    -0.7701368010139763,
+                    -0.6351927843628681
+                ]
+            ],
+            "translation_vector": [
+                0.6741447589911261,
+                0.24932597889595612,
+                0.4412218154357875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9649678576824683,
+                    -0.12736594181188263,
+                    0.22937949016003936
+                ],
+                [
+                    -0.25742925447288706,
+                    0.6284585049580677,
+                    -0.7340095956371444
+                ],
+                [
+                    -0.05066766800673814,
+                    -0.76734465816362,
+                    -0.6392299766175834
+                ]
+            ],
+            "translation_vector": [
+                0.6682931738595228,
+                0.25187199051568887,
+                0.43865013154083793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9659000707789077,
+                    -0.13340565526860146,
+                    0.22190084364791537
+                ],
+                [
+                    -0.2554240562221805,
+                    0.6312331815370167,
+                    -0.7323272642949085
+                ],
+                [
+                    -0.042374576957297176,
+                    -0.7640337699794504,
+                    -0.6437831883162835
+                ]
+            ],
+            "translation_vector": [
+                0.6647085727443481,
+                0.2538864695462853,
+                0.43651962498544133
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9657633603891224,
+                    -0.14374534336602726,
+                    0.21595927391638695
+                ],
+                [
+                    -0.2575851627608822,
+                    0.6302846174812661,
+                    -0.7323873189043786
+                ],
+                [
+                    -0.030838541719087932,
+                    -0.762940742932947,
+                    -0.6457324578473372
+                ]
+            ],
+            "translation_vector": [
+                0.662452156576154,
+                0.25591212916275885,
+                0.4349910342452898
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9647580899162989,
+                    -0.1526248657020297,
+                    0.2143536291050189
+                ],
+                [
+                    -0.2621511757479102,
+                    0.6279746108355442,
+                    -0.7327514238812064
+                ],
+                [
+                    -0.0227725491555707,
+                    -0.7631209199827932,
+                    -0.6458543740577848
+                ]
+            ],
+            "translation_vector": [
+                0.660318929492567,
+                0.25848016981190597,
+                0.4339221636549772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638014191335011,
+                    -0.15581841477841085,
+                    0.21635028563002373
+                ],
+                [
+                    -0.26568745534824756,
+                    0.629140779926465,
+                    -0.7304738565507275
+                ],
+                [
+                    -0.022293509073779957,
+                    -0.7615132964364201,
+                    -0.6477657746467583
+                ]
+            ],
+            "translation_vector": [
+                0.6587733970803825,
+                0.260647361840348,
+                0.4334428000861434
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9626566448857284,
+                    -0.16075642605359033,
+                    0.21782918890687913
+                ],
+                [
+                    -0.2699677169870774,
+                    0.6301765739065927,
+                    -0.728007498233455
+                ],
+                [
+                    -0.020238968405963304,
+                    -0.7596281045234078,
+                    -0.6500427116551936
+                ]
+            ],
+            "translation_vector": [
+                0.6576062556132797,
+                0.26257517126317265,
+                0.4328693079773607
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9599266573696367,
+                    -0.17737797037447164,
+                    0.2169743489378162
+                ],
+                [
+                    -0.28017692675283107,
+                    0.6252397932388059,
+                    -0.7284065421631208
+                ],
+                [
+                    -0.006457723011623333,
+                    -0.7600080634944135,
+                    -0.6498815593913839
+                ]
+            ],
+            "translation_vector": [
+                0.6576054236188673,
+                0.2650515314600098,
+                0.43246199161354854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9571677502389567,
+                    -0.19185981139377659,
+                    0.21684028840240682
+                ],
+                [
+                    -0.2894557663050551,
+                    0.6166950371410045,
+                    -0.732053680079821
+                ],
+                [
+                    0.00672735128024613,
+                    -0.7634638458614789,
+                    -0.645815530013914
+                ]
+            ],
+            "translation_vector": [
+                0.6583301205852304,
+                0.26671142580710855,
+                0.43285604009581086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9551123707667818,
+                    -0.20316345098638355,
+                    0.21560373696103
+                ],
+                [
+                    -0.29571328934213464,
+                    0.6103074425063086,
+                    -0.7349003171368644
+                ],
+                [
+                    0.01772031926102391,
+                    -0.7656692744290531,
+                    -0.6429903206740948
+                ]
+            ],
+            "translation_vector": [
+                0.6586126030890523,
+                0.2678953708188591,
+                0.4328793753581065
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9527700572446964,
+                    -0.21453918127313726,
+                    0.21494687184648664
+                ],
+                [
+                    -0.30232770492986794,
+                    0.6030164077411845,
+                    -0.7382202725655511
+                ],
+                [
+                    0.028760682359372448,
+                    -0.7683385657986782,
+                    -0.6393971156149001
+                ]
+            ],
+            "translation_vector": [
+                0.6587098842167135,
+                0.26908189490506307,
+                0.43265815267835417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9520902551469157,
+                    -0.2168210772854254,
+                    0.21566818610789212
+                ],
+                [
+                    -0.3043067051346365,
+                    0.6016829017296341,
+                    -0.7384951692301776
+                ],
+                [
+                    0.030357458134406243,
+                    -0.7687433292139808,
+                    -0.6388365350577743
+                ]
+            ],
+            "translation_vector": [
+                0.6586552357511176,
+                0.26942757417903745,
+                0.432332400729831
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9521238932192714,
+                    -0.21587746680135267,
+                    0.21646480380978533
+                ],
+                [
+                    -0.30432210970078055,
+                    0.6018281334678246,
+                    -0.7383704702342185
+                ],
+                [
+                    0.029122937836764576,
+                    -0.7688951925289076,
+                    -0.6387112316201201
+                ]
+            ],
+            "translation_vector": [
+                0.6586532891189026,
+                0.26938428881419096,
+                0.43241086121571776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9522117243194569,
+                    -0.21428681885246348,
+                    0.2176556714966513
+                ],
+                [
+                    -0.30423685240999676,
+                    0.6022602355721476,
+                    -0.7380532137212327
+                ],
+                [
+                    0.02706971932297306,
+                    -0.769001799682337,
+                    -0.6386732046838216
+                ]
+            ],
+            "translation_vector": [
+                0.6586918023325486,
+                0.26934461288952816,
+                0.4325741837050035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9523511534206391,
+                    -0.21301137453616975,
+                    0.2182966671678481
+                ],
+                [
+                    -0.3039375747483629,
+                    0.6029958985293057,
+                    -0.7375756890061651
+                ],
+                [
+                    0.025480016374836226,
+                    -0.7687796177546902,
+                    -0.6390060000426375
+                ]
+            ],
+            "translation_vector": [
+                0.6587542783621804,
+                0.26929112630198465,
+                0.4326943439561219
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9524830954942806,
+                    -0.21142974409579798,
+                    0.21925650756412862
+                ],
+                [
+                    -0.30368811293548675,
+                    0.6037997641690029,
+                    -0.7370206068022386
+                ],
+                [
+                    0.023441050729786923,
+                    -0.7685852640410448,
+                    -0.6393177684372942
+                ]
+            ],
+            "translation_vector": [
+                0.6589498671589493,
+                0.26921063912939747,
+                0.432949227378829
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9528556419601447,
+                    -0.2088954930728081,
+                    0.22006544153635085
+                ],
+                [
+                    -0.3027252597805586,
+                    0.6053002612600269,
+                    -0.7361854459369168
+                ],
+                [
+                    0.020580152465760875,
+                    -0.7680978236477514,
+                    -0.64000171142902
+                ]
+            ],
+            "translation_vector": [
+                0.6590849561455225,
+                0.26893292566758803,
+                0.43309207454334014
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9531062916713935,
+                    -0.2074616238039554,
+                    0.22033626897320158
+                ],
+                [
+                    -0.30203832605805453,
+                    0.6063554175618507,
+                    -0.7355990464821461
+                ],
+                [
+                    0.019006482274561334,
+                    -0.7676540772001543,
+                    -0.6405825250422673
+                ]
+            ],
+            "translation_vector": [
+                0.6591093398529414,
+                0.2687360343961443,
+                0.43302044846074367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533915060710401,
+                    -0.20570742549509033,
+                    0.22074666758022912
+                ],
+                [
+                    -0.30125190654342326,
+                    0.607502029687688,
+                    -0.734975219125987
+                ],
+                [
+                    0.017085811527314088,
+                    -0.7672194855590686,
+                    -0.6411570291456935
+                ]
+            ],
+            "translation_vector": [
+                0.6591536283525719,
+                0.26851141432766235,
+                0.4329949207791338
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953716190504683,
+                    -0.2037525394554906,
+                    0.22115680101383692
+                ],
+                [
+                    -0.3003349691906355,
+                    0.6087809737474283,
+                    -0.7342919257927281
+                ],
+                [
+                    0.014977791909861005,
+                    -0.7667272192041784,
+                    -0.6417982837940074
+                ]
+            ],
+            "translation_vector": [
+                0.6592140829534052,
+                0.26823981607455516,
+                0.43298948687412736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9539516149695199,
+                    -0.20259491068222152,
+                    0.22120492413757023
+                ],
+                [
+                    -0.29964107029763576,
+                    0.6095924178134283,
+                    -0.7339021141373463
+                ],
+                [
+                    0.013839988725891714,
+                    -0.7663891872345551,
+                    -0.6422274273199687
+                ]
+            ],
+            "translation_vector": [
+                0.6592332330838518,
+                0.26803304578991166,
+                0.4329330578193049
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9541487494387031,
+                    -0.20149431307978088,
+                    0.22135990093299782
+                ],
+                [
+                    -0.2990658051969043,
+                    0.6104758206864787,
+                    -0.7334022883241491
+                ],
+                [
+                    0.012641523107864342,
+                    -0.7659760532508039,
+                    -0.6427447998543713
+                ]
+            ],
+            "translation_vector": [
+                0.6592798743524362,
+                0.267851499381449,
+                0.4328641229942553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9537309427497557,
+                    -0.20592512301747834,
+                    0.21907106735463489
+                ],
+                [
+                    -0.3001357847652462,
+                    0.6090089631687892,
+                    -0.7341843048468326
+                ],
+                [
+                    0.017770749703159627,
+                    -0.765965355933487,
+                    -0.6426361909857512
+                ]
+            ],
+            "translation_vector": [
+                0.6596283063648714,
+                0.2679095759337784,
+                0.43283895075325207
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535160086455065,
+                    -0.20745358878221318,
+                    0.21856401752832819
+                ],
+                [
+                    -0.3006842390059964,
+                    0.6070874523859916,
+                    -0.7355500075242145
+                ],
+                [
+                    0.019905016205162298,
+                    -0.7670774626182597,
+                    -0.6412456289699021
+                ]
+            ],
+            "translation_vector": [
+                0.6594491969167832,
+                0.26799112593489494,
+                0.4327922001583379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534867265859123,
+                    -0.20814736320367022,
+                    0.21803150555789222
+                ],
+                [
+                    -0.30071158383376884,
+                    0.6067413567855335,
+                    -0.7358243467800153
+                ],
+                [
+                    0.020871166059134985,
+                    -0.7671633471154689,
+                    -0.641112153425532
+                ]
+            ],
+            "translation_vector": [
+                0.6592862758869116,
+                0.26800859070157734,
+                0.43258088261144645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533732447266089,
+                    -0.20820267453727917,
+                    0.2184744894832851
+                ],
+                [
+                    -0.3010748816496149,
+                    0.606214695869781,
+                    -0.7361098139212517
+                ],
+                [
+                    0.020817585814128084,
+                    -0.7675645828378439,
+                    -0.6406334671977719
+                ]
+            ],
+            "translation_vector": [
+                0.6593384605030094,
+                0.2680829901913834,
+                0.4327512546704651
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533793011011151,
+                    -0.20823412743277359,
+                    0.21841807710045613
+                ],
+                [
+                    -0.3010512995817689,
+                    0.6062038603225878,
+                    -0.7361283819756721
+                ],
+                [
+                    0.020881169796670415,
+                    -0.7675646082919043,
+                    -0.6406313673600589
+                ]
+            ],
+            "translation_vector": [
+                0.6592933836539234,
+                0.2680921339512087,
+                0.43271190323344944
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533833517596156,
+                    -0.208304496392809,
+                    0.21833328049140688
+                ],
+                [
+                    -0.30103288419635404,
+                    0.6062663859556509,
+                    -0.7360844189987306
+                ],
+                [
+                    0.02096156530475729,
+                    -0.7674961277054188,
+                    -0.6407107824417835
+                ]
+            ],
+            "translation_vector": [
+                0.6592496602543783,
+                0.26809666591100356,
+                0.43262907638395626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533519453919413,
+                    -0.2080144882252956,
+                    0.21874652204268127
+                ],
+                [
+                    -0.3011679014048467,
+                    0.6063738383490397,
+                    -0.735940665630901
+                ],
+                [
+                    0.020444152728871727,
+                    -0.7674898962554632,
+                    -0.640734965305451
+                ]
+            ],
+            "translation_vector": [
+                0.6592748063223238,
+                0.2681383674329122,
+                0.43268355426164284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533696338424817,
+                    -0.20784917925714455,
+                    0.2188265522033007
+                ],
+                [
+                    -0.30112618763387,
+                    0.606488828297061,
+                    -0.7358629765601403
+                ],
+                [
+                    0.020232656477678978,
+                    -0.7674438219394236,
+                    -0.6407968631156576
+                ]
+            ],
+            "translation_vector": [
+                0.6592562109559573,
+                0.26814578860198046,
+                0.4326727035125998
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534136055429256,
+                    -0.20765865107864012,
+                    0.21881586185155485
+                ],
+                [
+                    -0.30099716061379866,
+                    0.6065655192670493,
+                    -0.7358525532596366
+                ],
+                [
+                    0.020079991734814017,
+                    -0.767434789065817,
+                    -0.6408124830739765
+                ]
+            ],
+            "translation_vector": [
+                0.6592114524740631,
+                0.2681352213559872,
+                0.43263692342022053
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534494358158873,
+                    -0.20720327443852068,
+                    0.21909125131853502
+                ],
+                [
+                    -0.3009155631694185,
+                    0.6065371218351565,
+                    -0.7359093311532046
+                ],
+                [
+                    0.01959584611079842,
+                    -0.7675803038756793,
+                    -0.640653166633337
+                ]
+            ],
+            "translation_vector": [
+                0.6592157537213592,
+                0.2681150456083856,
+                0.43275317757792026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533431581479046,
+                    -0.2071921956973719,
+                    0.21956369657728367
+                ],
+                [
+                    -0.3012796067042194,
+                    0.6067984611367436,
+                    -0.735544849853652
+                ],
+                [
+                    0.01916823927048117,
+                    -0.7673767142702353,
+                    -0.6409099445312796
+                ]
+            ],
+            "translation_vector": [
+                0.6592677968094085,
+                0.2682533024901902,
+                0.4327531301297744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534766319561724,
+                    -0.20681044561131764,
+                    0.21934391238318368
+                ],
+                [
+                    -0.3008647197053808,
+                    0.606825087642179,
+                    -0.7356926895414038
+                ],
+                [
+                    0.019045544101342522,
+                    -0.767458632496964,
+                    -0.6408155075025682
+                ]
+            ],
+            "translation_vector": [
+                0.6591575759550702,
+                0.2682004875762786,
+                0.4327551595765469
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533598109717992,
+                    -0.20646546678097677,
+                    0.2201751163295455
+                ],
+                [
+                    -0.3012870418173355,
+                    0.6069609391646716,
+                    -0.7354077350431522
+                ],
+                [
+                    0.01819860590195344,
+                    -0.7674440887486551,
+                    -0.6408575359531727
+                ]
+            ],
+            "translation_vector": [
+                0.6592961279070871,
+                0.26827957899868393,
+                0.4328667126064658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534091357652551,
+                    -0.2063608085625513,
+                    0.22005962039583596
+                ],
+                [
+                    -0.30113116786125277,
+                    0.6069876367658769,
+                    -0.7354495418150007
+                ],
+                [
+                    0.018194493174236985,
+                    -0.7674511225496945,
+                    -0.6408492294723827
+                ]
+            ],
+            "translation_vector": [
+                0.6592560643379186,
+                0.26825212944172927,
+                0.4328371412561211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533988521268967,
+                    -0.2063034793451871,
+                    0.2201579050890207
+                ],
+                [
+                    -0.3011738311164185,
+                    0.6071480538571186,
+                    -0.7352996424235311
+                ],
+                [
+                    0.018026430977187303,
+                    -0.7673396347821372,
+                    -0.6409874668654929
+                ]
+            ],
+            "translation_vector": [
+                0.659256064522407,
+                0.2682785619492283,
+                0.43280909396701694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534430637474245,
+                    -0.2061289571126516,
+                    0.22012990989771386
+                ],
+                [
+                    -0.3010420032589203,
+                    0.6072419872682383,
+                    -0.7352760577989585
+                ],
+                [
+                    0.017889563040535107,
+                    -0.7673122063007807,
+                    -0.6410241349559681
+                ]
+            ],
+            "translation_vector": [
+                0.6592354872136461,
+                0.2682435772998238,
+                0.4327905193890317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534154629173133,
+                    -0.20604131814219628,
+                    0.22033141012663499
+                ],
+                [
+                    -0.30114442749493636,
+                    0.6073936912333929,
+                    -0.7351087930630548
+                ],
+                [
+                    0.0176348762091553,
+                    -0.7672156665945373,
+                    -0.6411467320925748
+                ]
+            ],
+            "translation_vector": [
+                0.6592638414295067,
+                0.26828779924468305,
+                0.43280460592649644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953408925761838,
+                    -0.20606314943766219,
+                    0.22033928093168012
+                ],
+                [
+                    -0.3011661665543197,
+                    0.607463478014986,
+                    -0.7350422185159929
+                ],
+                [
+                    0.017617048578972273,
+                    -0.7671545485244604,
+                    -0.6412203507980684
+                ]
+            ],
+            "translation_vector": [
+                0.6592681396195785,
+                0.2682854389970315,
+                0.43276571896256116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534361521890039,
+                    -0.2057308737515685,
+                    0.22053188269373405
+                ],
+                [
+                    -0.30110237812054735,
+                    0.6075441756599325,
+                    -0.7350016547680994
+                ],
+                [
+                    0.017229671766392257,
+                    -0.7671798239051323,
+                    -0.6412006364654617
+                ]
+            ],
+            "translation_vector": [
+                0.6592738449980432,
+                0.26829435159339127,
+                0.4328564807331144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533900756147038,
+                    -0.2057430773311886,
+                    0.22071961818035554
+                ],
+                [
+                    -0.30125627496948176,
+                    0.6076030301216719,
+                    -0.7348899336488934
+                ],
+                [
+                    0.017088607634953776,
+                    -0.7671299393957032,
+                    -0.6412640919089758
+                ]
+            ],
+            "translation_vector": [
+                0.659314079095756,
+                0.2683252770106889,
+                0.43285036285907674
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534722887276361,
+                    -0.20560777872055613,
+                    0.2204904441423317
+                ],
+                [
+                    -0.3009948201943695,
+                    0.6077095582919081,
+                    -0.7349089814234234
+                ],
+                [
+                    0.017108852814933365,
+                    -0.7670818301134851,
+                    -0.6413210998128037
+                ]
+            ],
+            "translation_vector": [
+                0.6592501485577966,
+                0.2682778247465336,
+                0.43281049826060275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534245842007265,
+                    -0.20552756291793156,
+                    0.22077133673257376
+                ],
+                [
+                    -0.30116034870363007,
+                    0.6077422300992581,
+                    -0.7348141439321162
+                ],
+                [
+                    0.016852495672145272,
+                    -0.767077442397439,
+                    -0.6413331355501789
+                ]
+            ],
+            "translation_vector": [
+                0.6593086131191063,
+                0.26831850123442774,
+                0.432869422131131
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534429600142371,
+                    -0.2055264476876903,
+                    0.22069300238151937
+                ],
+                [
+                    -0.3011004544372919,
+                    0.607796620275308,
+                    -0.7347937021501817
+                ],
+                [
+                    0.01688307842031545,
+                    -0.7670346456860946,
+                    -0.6413835155195846
+                ]
+            ],
+            "translation_vector": [
+                0.6592893349278015,
+                0.2682976378387454,
+                0.43281647960528014
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534493786927972,
+                    -0.2053308264517982,
+                    0.22084730919560894
+                ],
+                [
+                    -0.30109532266919165,
+                    0.6078889569968322,
+                    -0.7347194176201141
+                ],
+                [
+                    0.016609904787646217,
+                    -0.767013864066306,
+                    -0.641415499807278
+                ]
+            ],
+            "translation_vector": [
+                0.6593090531046025,
+                0.26829978129944465,
+                0.43286439853822395
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534663570094655,
+                    -0.20529734187446244,
+                    0.2208051346105401
+                ],
+                [
+                    -0.30104049354764834,
+                    0.6078542533730557,
+                    -0.734770595424772
+                ],
+                [
+                    0.016629109888594864,
+                    -0.767050329558345,
+                    -0.6413713936782244
+                ]
+            ],
+            "translation_vector": [
+                0.6592967220580452,
+                0.26828538914366273,
+                0.43286204417374957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534864223674929,
+                    -0.20519271516636822,
+                    0.22081574220035294
+                ],
+                [
+                    -0.3009825287909417,
+                    0.6079134316091968,
+                    -0.734745382450098
+                ],
+                [
+                    0.016527544386538924,
+                    -0.7670314265476901,
+                    -0.6413966253144515
+                ]
+            ],
+            "translation_vector": [
+                0.6592874841977617,
+                0.26827994326618787,
+                0.4328634135502252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534771104115296,
+                    -0.20519425679885586,
+                    0.22085451523128333
+                ],
+                [
+                    -0.3010145351371748,
+                    0.6079662194340784,
+                    -0.7346885909439353
+                ],
+                [
+                    0.01648179472722996,
+                    -0.7669891739808324,
+                    -0.6414483279569525
+                ]
+            ],
+            "translation_vector": [
+                0.659301701458652,
+                0.26828485770371363,
+                0.4328528703587457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535008750791297,
+                    -0.20501553313346985,
+                    0.22091788609647073
+                ],
+                [
+                    -0.30094918666597437,
+                    0.6080126028113038,
+                    -0.7346769779077827
+                ],
+                [
+                    0.016299333373564297,
+                    -0.7670001994762605,
+                    -0.6414398067901262
+                ]
+            ],
+            "translation_vector": [
+                0.6592946819124388,
+                0.26828214053510263,
+                0.4328924848519029
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9534869879940859,
+                    -0.2049742544281565,
+                    0.22101610517694686
+                ],
+                [
+                    -0.3009994523535605,
+                    0.608068779163668,
+                    -0.7346098893217158
+                ],
+                [
+                    0.016183121108814175,
+                    -0.7669666973396094,
+                    -0.6414828070674613
+                ]
+            ],
+            "translation_vector": [
+                0.6593126805100304,
+                0.26829405371809223,
+                0.43288884125496035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535159123260106,
+                    -0.20487193091093395,
+                    0.220986191572961
+                ],
+                [
+                    -0.30091310354492884,
+                    0.6081941151162732,
+                    -0.734541504921875
+                ],
+                [
+                    0.016084435210935503,
+                    -0.7668946539536963,
+                    -0.6415714151060553
+                ]
+            ],
+            "translation_vector": [
+                0.659294913625479,
+                0.2682790507910232,
+                0.4328681504038948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953528207933875,
+                    -0.2047217437045606,
+                    0.22107230565807456
+                ],
+                [
+                    -0.3008825990221761,
+                    0.6081913070202731,
+                    -0.7345563257304593
+                ],
+                [
+                    0.01592539732858502,
+                    -0.766936986798483,
+                    -0.6415247773861822
+                ]
+            ],
+            "translation_vector": [
+                0.6593087475044247,
+                0.2682671405759469,
+                0.43290200412675894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535298441086923,
+                    -0.20469825249175783,
+                    0.22108700056962577
+                ],
+                [
+                    -0.30088001326155084,
+                    0.6082507362194044,
+                    -0.7345081752494536
+                ],
+                [
+                    0.01587620904945813,
+                    -0.766896125505517,
+                    -0.6415748426106224
+                ]
+            ],
+            "translation_vector": [
+                0.6593106484032157,
+                0.2682657966346257,
+                0.4328907628385186
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535353444212025,
+                    -0.2045843295642382,
+                    0.22116871170283062
+                ],
+                [
+                    -0.3008716066648829,
+                    0.6083513292648031,
+                    -0.7344283058846789
+                ],
+                [
+                    0.01570424281621522,
+                    -0.7668467332384605,
+                    -0.6416381102140606
+                ]
+            ],
+            "translation_vector": [
+                0.6593130042295445,
+                0.26827911022460127,
+                0.43289537085482693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535552321493485,
+                    -0.20450071398749206,
+                    0.22116029756538183
+                ],
+                [
+                    -0.3008117898973695,
+                    0.6083782416811445,
+                    -0.7344305155068789
+                ],
+                [
+                    0.015642451832852833,
+                    -0.7668476856766049,
+                    -0.6416384812907437
+                ]
+            ],
+            "translation_vector": [
+                0.6593099104790457,
+                0.26825827925975276,
+                0.4328980260415902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535610640564663,
+                    -0.20440972407782393,
+                    0.22121926186010077
+                ],
+                [
+                    -0.30079991278270135,
+                    0.608444632460712,
+                    -0.7343803794353908
+                ],
+                [
+                    0.015514818252856857,
+                    -0.7668192707099747,
+                    -0.6416755383232275
+                ]
+            ],
+            "translation_vector": [
+                0.6593139802908243,
+                0.26826712782397827,
+                0.4329165602686181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535636888935025,
+                    -0.20434642214821025,
+                    0.22126642533163782
+                ],
+                [
+                    -0.3007965380985581,
+                    0.6084991537121552,
+                    -0.7343365867226787
+                ],
+                [
+                    0.01541862159009277,
+                    -0.7667928792619406,
+                    -0.6417093940573452
+                ]
+            ],
+            "translation_vector": [
+                0.659317961686847,
+                0.2682622948670863,
+                0.432899380826684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535786432836174,
+                    -0.2042384569477857,
+                    0.22130165787215295
+                ],
+                [
+                    -0.3007559135101004,
+                    0.6085903894590229,
+                    -0.7342776166728906
+                ],
+                [
+                    0.015285665248227876,
+                    -0.7667492357751021,
+                    -0.6417647215890079
+                ]
+            ],
+            "translation_vector": [
+                0.6593127999649735,
+                0.2682610612887974,
+                0.4329070354010963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535860005000459,
+                    -0.20410316185237767,
+                    0.22139475823105828
+                ],
+                [
+                    -0.3007418454187965,
+                    0.6086632332291779,
+                    -0.7342229980932907
+                ],
+                [
+                    0.01510238605066485,
+                    -0.7667274403833907,
+                    -0.6417950997777336
+                ]
+            ],
+            "translation_vector": [
+                0.6593259568543074,
+                0.2682586189826782,
+                0.43292510439855725
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9535897744703131,
+                    -0.2040986842939024,
+                    0.2213826305181948
+                ],
+                [
+                    -0.30073043250432463,
+                    0.6087044006581596,
+                    -0.7341935436825586
+                ],
+                [
+                    0.015091354856983442,
+                    -0.7666959499624928,
+                    -0.6418329777439702
+                ]
+            ],
+            "translation_vector": [
+                0.6593286862623711,
+                0.26825214914996076,
+                0.4329035098658239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536116392071372,
+                    -0.20393956324842114,
+                    0.22143508328790262
+                ],
+                [
+                    -0.3006699464362659,
+                    0.6087907892678227,
+                    -0.734146687122318
+                ],
+                [
+                    0.01491391560557248,
+                    -0.7666697003564866,
+                    -0.6418684800460335
+                ]
+            ],
+            "translation_vector": [
+                0.6593211719094814,
+                0.2682495460847696,
+                0.4329225750220617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536135468969649,
+                    -0.20391463277263838,
+                    0.22144982663300977
+                ],
+                [
+                    -0.30066575942859375,
+                    0.6088181549033601,
+                    -0.7341257081503789
+                ],
+                [
+                    0.01487629933205956,
+                    -0.7666546007174733,
+                    -0.6418873880338473
+                ]
+            ],
+            "translation_vector": [
+                0.659325853180812,
+                0.2682451805109607,
+                0.4329095162399883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536299064281993,
+                    -0.2037918498358982,
+                    0.221492400560847
+                ],
+                [
+                    -0.30062141544175397,
+                    0.6089230463114143,
+                    -0.7340568699008436
+                ],
+                [
+                    0.01472298011750312,
+                    -0.7666039431227121,
+                    -0.6419514220290892
+                ]
+            ],
+            "translation_vector": [
+                0.6593226507846145,
+                0.26824342199160695,
+                0.4329194507288177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536264451670011,
+                    -0.20369078264232757,
+                    0.2216002440086761
+                ],
+                [
+                    -0.3006404525344584,
+                    0.6089845309882356,
+                    -0.7339980649272281
+                ],
+                [
+                    0.014557519638478851,
+                    -0.7665819630565248,
+                    -0.6419814425186918
+                ]
+            ],
+            "translation_vector": [
+                0.6593336099834004,
+                0.268251134816072,
+                0.4329241253026371
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536425942734947,
+                    -0.20356322416112707,
+                    0.22164795545288724
+                ],
+                [
+                    -0.3005958543264243,
+                    0.6090321868089724,
+                    -0.7339767896823769
+                ],
+                [
+                    0.014419942755968395,
+                    -0.7665779863782992,
+                    -0.6419892959007237
+                ]
+            ],
+            "translation_vector": [
+                0.6593414093666207,
+                0.26824074869056974,
+                0.43295177471501795
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536584524900125,
+                    -0.20352290450048344,
+                    0.22161674877599474
+                ],
+                [
+                    -0.3005461432319055,
+                    0.6090479267538672,
+                    -0.7339840861389597
+                ],
+                [
+                    0.014407351692182,
+                    -0.7665761868597954,
+                    -0.641991727327319
+                ]
+            ],
+            "translation_vector": [
+                0.6593362725276486,
+                0.2682257599076921,
+                0.4329436913304701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536538365242399,
+                    -0.2035517443268231,
+                    0.22161012491334023
+                ],
+                [
+                    -0.3005601987744017,
+                    0.6090779083256869,
+                    -0.7339534511822251
+                ],
+                [
+                    0.014419673896822176,
+                    -0.7665447077445089,
+                    -0.6420290367526966
+                ]
+            ],
+            "translation_vector": [
+                0.6593389774228599,
+                0.26823370710531597,
+                0.4329315339292666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536677954084767,
+                    -0.2035319062986046,
+                    0.22156827191453263
+                ],
+                [
+                    -0.300516872627004,
+                    0.6091668428682929,
+                    -0.7338973816661032
+                ],
+                [
+                    0.014399488436097096,
+                    -0.766479302178691,
+                    -0.6421075720348158
+                ]
+            ],
+            "translation_vector": [
+                0.6593291669824884,
+                0.2682213278053441,
+                0.43290640336738667
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536805805562133,
+                    -0.20347415071006247,
+                    0.22156628864243536
+                ],
+                [
+                    -0.30047888076052093,
+                    0.609207834779218,
+                    -0.7338789111703118
+                ],
+                [
+                    0.01434546921047922,
+                    -0.766462056488406,
+                    -0.6421293666206954
+                ]
+            ],
+            "translation_vector": [
+                0.6593193182620496,
+                0.2682212468872346,
+                0.43291577460683606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536583906271507,
+                    -0.20356850069998642,
+                    0.22157513287639535
+                ],
+                [
+                    -0.3005471289007327,
+                    0.6092404996366858,
+                    -0.7338238459684776
+                ],
+                [
+                    0.014390875441020553,
+                    -0.7664110379719237,
+                    -0.6421892428084109
+                ]
+            ],
+            "translation_vector": [
+                0.6593305235486664,
+                0.26823804903849763,
+                0.43288673624446183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536662466671803,
+                    -0.20353152882901474,
+                    0.22157528458800912
+                ],
+                [
+                    -0.3005237477167882,
+                    0.6092586368474086,
+                    -0.7338183634150173
+                ],
+                [
+                    0.014358517541496927,
+                    -0.7664064392992547,
+                    -0.6421954552740536
+                ]
+            ],
+            "translation_vector": [
+                0.6593275460256839,
+                0.2682359742699754,
+                0.43288936771326286
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536702224360614,
+                    -0.20348587977612193,
+                    0.2216000983088495
+                ],
+                [
+                    -0.30051327440579473,
+                    0.6092514371509463,
+                    -0.7338286300188994
+                ],
+                [
+                    0.014313586016844576,
+                    -0.7664242839715121,
+                    -0.642175161614099
+                ]
+            ],
+            "translation_vector": [
+                0.6593231013155469,
+                0.268230462879516,
+                0.4328973686996183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536663509139439,
+                    -0.2035592405509971,
+                    0.22154937761317176
+                ],
+                [
+                    -0.30052068798670656,
+                    0.6092058173637782,
+                    -0.7338634669896898
+                ],
+                [
+                    0.014415520333274406,
+                    -0.7664410660164501,
+                    -0.6421528518172981
+                ]
+            ],
+            "translation_vector": [
+                0.6593278758862393,
+                0.26822444295155273,
+                0.4328837163101809
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536579779756349,
+                    -0.20353333176658608,
+                    0.2216092143919485
+                ],
+                [
+                    -0.300550677518314,
+                    0.6092404352368652,
+                    -0.7338224460424184
+                ],
+                [
+                    0.014344033139468595,
+                    -0.7664204296157486,
+                    -0.6421790823289918
+                ]
+            ],
+            "translation_vector": [
+                0.6593344105497422,
+                0.26823961590347134,
+                0.4328975037728113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536746166777547,
+                    -0.20350141604617028,
+                    0.2215669180445061
+                ],
+                [
+                    -0.3004976763121218,
+                    0.6092469825783006,
+                    -0.7338387157613389
+                ],
+                [
+                    0.014348241549146533,
+                    -0.7664236999770031,
+                    -0.6421750852205401
+                ]
+            ],
+            "translation_vector": [
+                0.6593224521398651,
+                0.2682280904624108,
+                0.43289904391530803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536839012292021,
+                    -0.20343451429099454,
+                    0.22158839078669515
+                ],
+                [
+                    -0.3004711011265285,
+                    0.6092488612358831,
+                    -0.7338480377234731
+                ],
+                [
+                    0.014287544367788344,
+                    -0.76643996730205,
+                    -0.6421570233190412
+                ]
+            ],
+            "translation_vector": [
+                0.6593259831621177,
+                0.26821638148849786,
+                0.43290490814025806
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536708743438217,
+                    -0.2035085816248486,
+                    0.2215764442203481
+                ],
+                [
+                    -0.3005098831606008,
+                    0.60926069614749,
+                    -0.7338223315303767
+                ],
+                [
+                    0.014341323198811592,
+                    -0.7664108958873943,
+                    -0.642190520884565
+                ]
+            ],
+            "translation_vector": [
+                0.6593253526719025,
+                0.26822873308223355,
+                0.43289406857248003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536621017795914,
+                    -0.20350265388754538,
+                    0.22161964148075464
+                ],
+                [
+                    -0.30053934490010364,
+                    0.6092630919143267,
+                    -0.7338082767303812
+                ],
+                [
+                    0.014307263761769657,
+                    -0.7664105653575771,
+                    -0.6421916750565446
+                ]
+            ],
+            "translation_vector": [
+                0.6593311408530368,
+                0.2682383468022691,
+                0.4328935519615076
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536793966561422,
+                    -0.20347033332963727,
+                    0.22157488993183186
+                ],
+                [
+                    -0.30048305547095944,
+                    0.6092087362235888,
+                    -0.7338764535558384
+                ],
+                [
+                    0.014336727953526394,
+                    -0.7664623533896395,
+                    -0.6421292074559469
+                ]
+            ],
+            "translation_vector": [
+                0.6593207965267329,
+                0.2682149194545546,
+                0.4329009912824506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536579789157422,
+                    -0.20349723738196474,
+                    0.2216423552217641
+                ],
+                [
+                    -0.3005539687847161,
+                    0.6092973719576127,
+                    -0.7337738237177059
+                ],
+                [
+                    0.014274841438637465,
+                    -0.7663847512205965,
+                    -0.642223202631645
+                ]
+            ],
+            "translation_vector": [
+                0.6593421618826865,
+                0.2682326021525541,
+                0.432895250821964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536681879797188,
+                    -0.20348621353192264,
+                    0.22160854707777183
+                ],
+                [
+                    -0.3005206540327565,
+                    0.6092869841013173,
+                    -0.733796093955566
+                ],
+                [
+                    0.01429418536344262,
+                    -0.7663959367762608,
+                    -0.6422094240647934
+                ]
+            ],
+            "translation_vector": [
+                0.6593360462192808,
+                0.26822860899461815,
+                0.4328837007345105
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536576993621839,
+                    -0.2034956930985845,
+                    0.22164497589061946
+                ],
+                [
+                    -0.30055460314919424,
+                    0.6092766316483478,
+                    -0.7337907853421669
+                ],
+                [
+                    0.014280160120143052,
+                    -0.7664016499313987,
+                    -0.6422029180947195
+                ]
+            ],
+            "translation_vector": [
+                0.6593468765437662,
+                0.2682233357040974,
+                0.4328925612977352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536672038595103,
+                    -0.20348448837116584,
+                    0.22161436612978944
+                ],
+                [
+                    -0.3005248748504028,
+                    0.609332907260111,
+                    -0.7337562318141434
+                ],
+                [
+                    0.014271085415384249,
+                    -0.7663598835548912,
+                    -0.6422529602880792
+                ]
+            ],
+            "translation_vector": [
+                0.6593307842926984,
+                0.26823950973461774,
+                0.4328848265571503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536683355741604,
+                    -0.20348049913116414,
+                    0.22161315889753372
+                ],
+                [
+                    -0.3005209243015222,
+                    0.6093087777779653,
+                    -0.7337778869519588
+                ],
+                [
+                    0.0142786477010253,
+                    -0.7663801274798656,
+                    -0.6422286356304704
+                ]
+            ],
+            "translation_vector": [
+                0.6593321576183998,
+                0.2682348133825314,
+                0.4328880957266214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536759791959469,
+                    -0.2034734267345664,
+                    0.22158675799231564
+                ],
+                [
+                    -0.30049600264089993,
+                    0.6093062098421785,
+                    -0.7337902255035834
+                ],
+                [
+                    0.014292624024030474,
+                    -0.7663840468463918,
+                    -0.6422236476787939
+                ]
+            ],
+            "translation_vector": [
+                0.6593267915383173,
+                0.2682242403185688,
+                0.43288628386284783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536853525281834,
+                    -0.2034268839682048,
+                    0.2215891496715966
+                ],
+                [
+                    -0.30046744691166893,
+                    0.6092854341531891,
+                    -0.7338191691930264
+                ],
+                [
+                    0.01426750572377935,
+                    -0.7664129191289424,
+                    -0.6421897505197943
+                ]
+            ],
+            "translation_vector": [
+                0.6593254404671051,
+                0.26821671938649844,
+                0.4328964581533576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536736613867755,
+                    -0.20343564395947972,
+                    0.22163142002869116
+                ],
+                [
+                    -0.3005061998363648,
+                    0.6093166505465056,
+                    -0.7337773798821378
+                ],
+                [
+                    0.01423275929147463,
+                    -0.7663857763121523,
+                    -0.6422229133481393
+                ]
+            ],
+            "translation_vector": [
+                0.6593308762374457,
+                0.2682335630249888,
+                0.432904104408838
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536808360247272,
+                    -0.203469158221914,
+                    0.22156977377711892
+                ],
+                [
+                    -0.3004796238077867,
+                    0.6092763008703859,
+                    -0.7338217664215407
+                ],
+                [
+                    0.014312884947097797,
+                    -0.7664089579657619,
+                    -0.6421934681031305
+                ]
+            ],
+            "translation_vector": [
+                0.6593221667253989,
+                0.2682164905658758,
+                0.4328833107181802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536815836647541,
+                    -0.20342904973617582,
+                    0.22160338152231132
+                ],
+                [
+                    -0.30047962409493567,
+                    0.6092763011471957,
+                    -0.7338217660741322
+                ],
+                [
+                    0.014262975932558285,
+                    -0.7664196047752357,
+                    -0.6421818721621773
+                ]
+            ],
+            "translation_vector": [
+                0.6593310240945597,
+                0.26821649073809745,
+                0.43290069984023405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536610239570275,
+                    -0.20345197465396955,
+                    0.22167080410968631
+                ],
+                [
+                    -0.30054723029828573,
+                    0.6093273312826956,
+                    -0.7337517057642442
+                ],
+                [
+                    0.014213153952009528,
+                    -0.7663729492625047,
+                    -0.6422386541570257
+                ]
+            ],
+            "translation_vector": [
+                0.6593446941815954,
+                0.26824568226728396,
+                0.43290514992704765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536915863618884,
+                    -0.2034530552563068,
+                    0.2215382865543076
+                ],
+                [
+                    -0.30044646412074166,
+                    0.6093540239858337,
+                    -0.7337708059398496
+                ],
+                [
+                    0.014292665947550912,
+                    -0.7663514388054259,
+                    -0.6422625568573693
+                ]
+            ],
+            "translation_vector": [
+                0.6593192776529322,
+                0.26820996053689566,
+                0.4328643686260581
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536526186118632,
+                    -0.20344210338804966,
+                    0.2217160201333732
+                ],
+                [
+                    -0.3005760760913226,
+                    0.6093501100587977,
+                    -0.7337209727497743
+                ],
+                [
+                    0.0141670567260703,
+                    -0.7663574583315399,
+                    -0.6422581572571446
+                ]
+            ],
+            "translation_vector": [
+                0.6593552730063622,
+                0.2682420203915384,
+                0.43290007309401796
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536896932992137,
+                    -0.203437912200138,
+                    0.22156034115901868
+                ],
+                [
+                    -0.3004537837395533,
+                    0.6093602153824563,
+                    -0.7337626671789949
+                ],
+                [
+                    0.014265087852429267,
+                    -0.766350535844202,
+                    -0.6422642473934441
+                ]
+            ],
+            "translation_vector": [
+                0.6593165216324383,
+                0.2682337315463439,
+                0.4328858115521565
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536733846585753,
+                    -0.20346490430078454,
+                    0.22160574927498938
+                ],
+                [
+                    -0.3005061895915833,
+                    0.6093636760173398,
+                    -0.7337383323554673
+                ],
+                [
+                    0.014251505569737765,
+                    -0.7663406181773921,
+                    -0.642276382502493
+                ]
+            ],
+            "translation_vector": [
+                0.6593314537867159,
+                0.2682326818193033,
+                0.4328770192708766
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536777678709525,
+                    -0.20340663906686968,
+                    0.22164037144030946
+                ],
+                [
+                    -0.3004951488946992,
+                    0.609357824386202,
+                    -0.7337477136932475
+                ],
+                [
+                    0.014190861828326488,
+                    -0.766360738192423,
+                    -0.6422537180879022
+                ]
+            ],
+            "translation_vector": [
+                0.6593340050043672,
+                0.2682319644341696,
+                0.4329034417598829
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536700347686647,
+                    -0.20346511848976415,
+                    0.22161996828417896
+                ],
+                [
+                    -0.30051733192777624,
+                    0.6093671413641131,
+                    -0.7337308908835312
+                ],
+                [
+                    0.0142407161106823,
+                    -0.7663378057904202,
+                    -0.6422799774405082
+                ]
+            ],
+            "translation_vector": [
+                0.6593332811473467,
+                0.2682365499081516,
+                0.4328745906251667
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536721312857199,
+                    -0.20346699732717502,
+                    0.22160922139571812
+                ],
+                [
+                    -0.3005101056248956,
+                    0.6093580307437902,
+                    -0.7337414168393145
+                ],
+                [
+                    0.014252804154523,
+                    -0.7663445513388308,
+                    -0.6422716607534692
+                ]
+            ],
+            "translation_vector": [
+                0.659337008513824,
+                0.2682335864900807,
+                0.43288116517848263
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953668953075614,
+                    -0.20344531944090874,
+                    0.22164279807214504
+                ],
+                [
+                    -0.3005220661478707,
+                    0.6093637110039659,
+                    -0.7337318007757947
+                ],
+                [
+                    0.014213222642239795,
+                    -0.7663457899075732,
+                    -0.6422710600619184
+                ]
+            ],
+            "translation_vector": [
+                0.6593411298051005,
+                0.26823385617393974,
+                0.4328883801578789
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536777813411349,
+                    -0.20340591160227953,
+                    0.2216409810966748
+                ],
+                [
+                    -0.3004951488947485,
+                    0.6093578243888743,
+                    -0.733747713691008
+                ],
+                [
+                    0.014189956552922382,
+                    -0.7663609312727941,
+                    -0.6422535076990415
+                ]
+            ],
+            "translation_vector": [
+                0.6593339438694504,
+                0.26823196443394504,
+                0.432903943279477
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953672018461494,
+                    -0.20342854479170092,
+                    0.22164500528437595
+                ],
+                [
+                    -0.3005136878012782,
+                    0.6094036628389283,
+                    -0.7337020506735512
+                ],
+                [
+                    0.014184662408954822,
+                    -0.7663184735359246,
+                    -0.64230428339683
+                ]
+            ],
+            "translation_vector": [
+                0.6593384707139816,
+                0.2682368913563753,
+                0.43287926537465793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953681764158057,
+                    -0.2033913820654952,
+                    0.22163717741810432
+                ],
+                [
+                    -0.3004825750090215,
+                    0.6093427556296066,
+                    -0.7337653768594331
+                ],
+                [
+                    0.014188545673333365,
+                    -0.7663767688697288,
+                    -0.6422346403834586
+                ]
+            ],
+            "translation_vector": [
+                0.6593277108782789,
+                0.26822906400600066,
+                0.4329019791042466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536777813411349,
+                    -0.20340591160227953,
+                    0.2216409810966748
+                ],
+                [
+                    -0.3004951488947485,
+                    0.6093578243888743,
+                    -0.733747713691008
+                ],
+                [
+                    0.014189956552922382,
+                    -0.7663609312727941,
+                    -0.6422535076990415
+                ]
+            ],
+            "translation_vector": [
+                0.6593339438694504,
+                0.26823196443394504,
+                0.432903943279477
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9537034859879717,
+                    -0.20334567282541685,
+                    0.22158564519744695
+                ],
+                [
+                    -0.30041332110037744,
+                    0.609335577997824,
+                    -0.7337996933029471
+                ],
+                [
+                    0.014194975161365057,
+                    -0.7663946051018603,
+                    -0.6422132137778948
+                ]
+            ],
+            "translation_vector": [
+                0.659323395099718,
+                0.26821046050587993,
+                0.43290534845566836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536815819586931,
+                    -0.2033862730103149,
+                    0.2216426497399321
+                ],
+                [
+                    -0.3004838314503544,
+                    0.6093611440125356,
+                    -0.733749591621453
+                ],
+                [
+                    0.014174176155232964,
+                    -0.7663635039057561,
+                    -0.6422507863845812
+                ]
+            ],
+            "translation_vector": [
+                0.6593363666189694,
+                0.26822620238184336,
+                0.43290528159319
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536850584716504,
+                    -0.20339326600617477,
+                    0.22162127287619895
+                ],
+                [
+                    -0.30047163846956026,
+                    0.6093473844226631,
+                    -0.7337660114591557
+                ],
+                [
+                    0.014198722595468657,
+                    -0.7663725885237554,
+                    -0.642239403833225
+                ]
+            ],
+            "translation_vector": [
+                0.659330564209968,
+                0.26822556106013007,
+                0.4329038698427556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536853501469469,
+                    -0.2034213170388589,
+                    0.22159427043421387
+                ],
+                [
+                    -0.30046914203830755,
+                    0.609357743589667,
+                    -0.7337584309635382
+                ],
+                [
+                    0.014231921790778467,
+                    -0.7663569064747091,
+                    -0.6422573816630335
+                ]
+            ],
+            "translation_vector": [
+                0.6593306319259805,
+                0.268220767663109,
+                0.432896979425085
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953674056023102,
+                    -0.20341234820911405,
+                    0.2216511030076312
+                ],
+                [
+                    -0.3005073414938816,
+                    0.6093715834856861,
+                    -0.7337312934231627
+                ],
+                [
+                    0.014182121728606806,
+                    -0.7663482823339542,
+                    -0.6422687736353632
+                ]
+            ],
+            "translation_vector": [
+                0.6593367805271201,
+                0.26823260586253966,
+                0.4328995321360754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536817485257661,
+                    -0.2034347917015829,
+                    0.22159740082900595
+                ],
+                [
+                    -0.3004801318846382,
+                    0.6093519758783466,
+                    -0.7337587204495398
+                ],
+                [
+                    0.014241238409211404,
+                    -0.7663579157407386,
+                    -0.6422559708637074
+                ]
+            ],
+            "translation_vector": [
+                0.659326363015636,
+                0.26822479931138377,
+                0.4328865565768425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536703920722779,
+                    -0.20339882535390125,
+                    0.2216792753717895
+                ],
+                [
+                    -0.3005203999243333,
+                    0.6093771571997709,
+                    -0.733721315972519
+                ],
+                [
+                    0.014151767169762648,
+                    -0.7663474395649662,
+                    -0.6422704487660895
+                ]
+            ],
+            "translation_vector": [
+                0.6593403475081206,
+                0.26823035736193734,
+                0.43290008327877666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536778367662591,
+                    -0.20339338479018687,
+                    0.22165223816695437
+                ],
+                [
+                    -0.30049587778672715,
+                    0.6093656633090643,
+                    -0.7337409050973573
+                ],
+                [
+                    0.014170783112221827,
+                    -0.7663580229915362,
+                    -0.6422574012827655
+                ]
+            ],
+            "translation_vector": [
+                0.6593361156674664,
+                0.2682270080338553,
+                0.4328983101202564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536849210364363,
+                    -0.20339159575513363,
+                    0.22162339714909748
+                ],
+                [
+                    -0.3004726181622922,
+                    0.609370184388659,
+                    -0.7337466757081965
+                ],
+                [
+                    0.014187216866727928,
+                    -0.7663549028709299,
+                    -0.6422607614694086
+                ]
+            ],
+            "translation_vector": [
+                0.6593301144248862,
+                0.26822389823080806,
+                0.43289475058866733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953672267334972,
+                    -0.2034382929295512,
+                    0.22163498705322737
+                ],
+                [
+                    -0.300511057578351,
+                    0.6093384778505888,
+                    -0.7337572648252753
+                ],
+                [
+                    0.014223599731262084,
+                    -0.7663677187751573,
+                    -0.6422446643064053
+                ]
+            ],
+            "translation_vector": [
+                0.6593404987070417,
+                0.26822864679858005,
+                0.4329025255107118
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536821607208246,
+                    -0.2033911995059042,
+                    0.22163563857468552
+                ],
+                [
+                    -0.3004811666893378,
+                    0.6093369974876011,
+                    -0.7337707352830377
+                ],
+                [
+                    0.014191715466200237,
+                    -0.7663813955572935,
+                    -0.642229049292993
+                ]
+            ],
+            "translation_vector": [
+                0.6593314698696245,
+                0.268223824460551,
+                0.432912032432297
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536741646271673,
+                    -0.20342247332967586,
+                    0.22164134331643176
+                ],
+                [
+                    -0.3005060436937773,
+                    0.6093544364902255,
+                    -0.7337460653613033
+                ],
+                [
+                    0.014202303552193369,
+                    -0.7663592291309068,
+                    -0.6422552658403776
+                ]
+            ],
+            "translation_vector": [
+                0.6593369994722015,
+                0.26823284628507754,
+                0.4328937416262128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536821823948466,
+                    -0.2034200707836415,
+                    0.2216090471641024
+                ],
+                [
+                    -0.30047900558636326,
+                    0.6093199349931755,
+                    -0.7337857889205427
+                ],
+                [
+                    0.01423594691031654,
+                    -0.7663872987088782,
+                    -0.6422210259663537
+                ]
+            ],
+            "translation_vector": [
+                0.6593263856466989,
+                0.26822662678571274,
+                0.43290144605749814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953682272279424,
+                    -0.2034065691638594,
+                    0.22162105306342886
+                ],
+                [
+                    -0.3004801320763698,
+                    0.6093519760684302,
+                    -0.7337587202131688
+                ],
+                [
+                    0.014206117250057956,
+                    -0.7663654068931399,
+                    -0.6422478099224553
+                ]
+            ],
+            "translation_vector": [
+                0.6593321523848481,
+                0.2682247994258806,
+                0.43289924196112617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536629394581873,
+                    -0.20346123398278132,
+                    0.2216540641860066
+                ],
+                [
+                    -0.3005407223999477,
+                    0.6093489672540925,
+                    -0.7337364038165813
+                ],
+                [
+                    0.01422223903919443,
+                    -0.766353288224547,
+                    -0.6422619135089181
+                ]
+            ],
+            "translation_vector": [
+                0.6593450563650552,
+                0.2682386255866745,
+                0.43288986506220334
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536679628110121,
+                    -0.2034436549797433,
+                    0.22164858663293527
+                ],
+                [
+                    -0.3005248751375793,
+                    0.6093329075395664,
+                    -0.7337562314644567
+                ],
+                [
+                    0.014220271848209612,
+                    -0.7663707242828776,
+                    -0.642241151617289
+                ]
+            ],
+            "translation_vector": [
+                0.659339580454433,
+                0.2682395099066167,
+                0.43290279396069065
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536737138191127,
+                    -0.2033748107449059,
+                    0.22168701794407217
+                ],
+                [
+                    -0.3005096487787405,
+                    0.6093108573439814,
+                    -0.73378077796684
+                ],
+                [
+                    0.01415621988172262,
+                    -0.7664065275538934,
+                    -0.6421998411409366
+                ]
+            ],
+            "translation_vector": [
+                0.6593433775903115,
+                0.26823167266093195,
+                0.4329271663728147
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536687664247818,
+                    -0.2034549679582538,
+                    0.22163474447599868
+                ],
+                [
+                    -0.3005219198638166,
+                    0.6093544713657407,
+                    -0.7337395341045384
+                ],
+                [
+                    0.014228830844489684,
+                    -0.7663505752850228,
+                    -0.6422650045994366
+                ]
+            ],
+            "translation_vector": [
+                0.6593347294934844,
+                0.26823402039138844,
+                0.43288289295386084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536748831861188,
+                    -0.20341815291362783,
+                    0.22164221674841342
+                ],
+                [
+                    -0.3005033762069661,
+                    0.6093245619783881,
+                    -0.7337719666613468
+                ],
+                [
+                    0.014210491481905358,
+                    -0.7663841290339029,
+                    -0.6422253721995024
+                ]
+            ],
+            "translation_vector": [
+                0.6593380159766619,
+                0.268227039347137,
+                0.4329051697613956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953673334107542,
+                    -0.20341218569256694,
+                    0.22165435823366478
+                ],
+                [
+                    -0.3005087473738917,
+                    0.6093179112632647,
+                    -0.7337752896940232
+                ],
+                [
+                    0.014200864902521648,
+                    -0.7663910005509889,
+                    -0.6422173850889396
+                ]
+            ],
+            "translation_vector": [
+                0.6593414034706742,
+                0.26823504217817273,
+                0.43291242465711227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536794574837106,
+                    -0.2033720994262481,
+                    0.2216647954649905
+                ],
+                [
+                    -0.30049105347490646,
+                    0.6093244547299115,
+                    -0.7337771021568046
+                ],
+                [
+                    0.01416400914701512,
+                    -0.7663964366064453,
+                    -0.6422117118223764
+                ]
+            ],
+            "translation_vector": [
+                0.6593378547905392,
+                0.26822743261658466,
+                0.4329186532747213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536798521756813,
+                    -0.20340878830436696,
+                    0.2216294303442576
+                ],
+                [
+                    -0.30048749952172915,
+                    0.6093245269168358,
+                    -0.7337784975922595
+                ],
+                [
+                    0.014212747283677687,
+                    -0.7663866424580508,
+                    -0.6422223229353887
+                ]
+            ],
+            "translation_vector": [
+                0.6593340684824136,
+                0.26822586522469555,
+                0.43290684335457896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536875165209516,
+                    -0.20337701586483892,
+                    0.22162560829022668
+                ],
+                [
+                    -0.3004642841770729,
+                    0.6093359155259117,
+                    -0.7337785469636998
+                ],
+                [
+                    0.014189248255602409,
+                    -0.7663860198803946,
+                    -0.6422235854948251
+                ]
+            ],
+            "translation_vector": [
+                0.659329763869375,
+                0.2682256840288634,
+                0.43291691406097205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536618377178984,
+                    -0.20340895034273612,
+                    0.22170678429174778
+                ],
+                [
+                    -0.3005470233566441,
+                    0.6093192377536066,
+                    -0.7337585115382479
+                ],
+                [
+                    0.014162839827592307,
+                    -0.7663908046315736,
+                    -0.6422184585825823
+                ]
+            ],
+            "translation_vector": [
+                0.6593488284671413,
+                0.2682453172473547,
+                0.4329235425788322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536744267941206,
+                    -0.20340831639252765,
+                    0.22165320773961986
+                ],
+                [
+                    -0.30050604378996465,
+                    0.6093544365855834,
+                    -0.7337460652427178
+                ],
+                [
+                    0.014184686271099587,
+                    -0.7663629867339784,
+                    -0.6422511714583063
+                ]
+            ],
+            "translation_vector": [
+                0.6593399041718413,
+                0.2682328463425223,
+                0.4329001424426776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536658963485545,
+                    -0.20342433235376828,
+                    0.221675210946402
+                ],
+                [
+                    -0.30053313298822426,
+                    0.609345430086079,
+                    -0.7337424499165179
+                ],
+                [
+                    0.014184291240328429,
+                    -0.7663658968401681,
+                    -0.6422477076972517
+                ]
+            ],
+            "translation_vector": [
+                0.6593470156736354,
+                0.2682363247945616,
+                0.43290402758711805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953667541650677,
+                    -0.20340842160268668,
+                    0.22168273280311618
+                ],
+                [
+                    -0.300528428441263,
+                    0.6093328358653081,
+                    -0.7337548356467348
+                ],
+                [
+                    0.01417334472094686,
+                    -0.7663801335874031,
+                    -0.6422309609026771
+                ]
+            ],
+            "translation_vector": [
+                0.6593434891432628,
+                0.2682410772195343,
+                0.4329135247339139
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536704442899419,
+                    -0.2034454507370737,
+                    0.2216362611627762
+                ],
+                [
+                    -0.30051633693749963,
+                    0.6093214487293603,
+                    -0.7337692439398241
+                ],
+                [
+                    0.014234286827677557,
+                    -0.7663793582115471,
+                    -0.642230538347224
+                ]
+            ],
+            "translation_vector": [
+                0.6593391388891655,
+                0.26823734285777323,
+                0.4329007699952359
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536675551042315,
+                    -0.20340769411968543,
+                    0.22168334243787932
+                ],
+                [
+                    -0.30052842844131206,
+                    0.6093328358679804,
+                    -0.7337548356444953
+                ],
+                [
+                    0.014172439455249989,
+                    -0.7663803266694663,
+                    -0.642230750473605
+                ]
+            ],
+            "translation_vector": [
+                0.6593434279987749,
+                0.26824107721930973,
+                0.43291410255645607
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536610374483706,
+                    -0.2034512471777883,
+                    0.2216714137517524
+                ],
+                [
+                    -0.3005472302983354,
+                    0.6093273312853681,
+                    -0.7337517057620048
+                ],
+                [
+                    0.014212248692499325,
+                    -0.7663731423859104,
+                    -0.6422384437392772
+                ]
+            ],
+            "translation_vector": [
+                0.6593446330451297,
+                0.26824568226705925,
+                0.4329056514567885
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953671633500347,
+                    -0.20340802190461704,
+                    0.22166549592038626
+                ],
+                [
+                    -0.30051469398145986,
+                    0.6093212423038903,
+                    -0.7337700882282365
+                ],
+                [
+                    0.014189226829164217,
+                    -0.7663894573270794,
+                    -0.6422194839304518
+                ]
+            ],
+            "translation_vector": [
+                0.6593412799529765,
+                0.26823280164135455,
+                0.43291740717182725
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536710389273101,
+                    -0.20341473911471866,
+                    0.22166188987328445
+                ],
+                [
+                    -0.3005163814225368,
+                    0.6093283161741172,
+                    -0.7337635229453151
+                ],
+                [
+                    0.014193449475357073,
+                    -0.766382050298222,
+                    -0.6422282296603634
+                ]
+            ],
+            "translation_vector": [
+                0.6593407743703273,
+                0.26824027144228857,
+                0.43291474957969056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536608083448358,
+                    -0.20344784016658843,
+                    0.22167552629603612
+                ],
+                [
+                    -0.30054808997349175,
+                    0.6093215183208274,
+                    -0.7337561808424429
+                ],
+                [
+                    0.01420944194401047,
+                    -0.7663786685723658,
+                    -0.6422319114750433
+                ]
+            ],
+            "translation_vector": [
+                0.6593497549461002,
+                0.26823969146396914,
+                0.43290487044847337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536862713456392,
+                    -0.2033796064701872,
+                    0.22162858912803604
+                ],
+                [
+                    -0.3004677166723678,
+                    0.6093072288196969,
+                    -0.7338009622137024
+                ],
+                [
+                    0.014200249453644669,
+                    -0.7664081396880474,
+                    -0.6421969451308228
+                ]
+            ],
+            "translation_vector": [
+                0.659330285928463,
+                0.2682229235792471,
+                0.43291916852233236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953671073911639,
+                    -0.20340372053649555,
+                    0.22167185039181772
+                ],
+                [
+                    -0.3005172566944267,
+                    0.6093453954270753,
+                    -0.7337489812604018
+                ],
+                [
+                    0.01417255139617546,
+                    -0.7663713953063049,
+                    -0.6422414057371187
+                ]
+            ],
+            "translation_vector": [
+                0.6593462172591558,
+                0.2682351505840067,
+                0.43291017220317857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536675551042315,
+                    -0.20340769411968543,
+                    0.22168334243787932
+                ],
+                [
+                    -0.30052842844131206,
+                    0.6093328358679804,
+                    -0.7337548356444953
+                ],
+                [
+                    0.014172439455249989,
+                    -0.7663803266694663,
+                    -0.642230750473605
+                ]
+            ],
+            "translation_vector": [
+                0.6593434279987749,
+                0.26824107721930973,
+                0.4329140262625108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953668418637023,
+                    -0.20341864037438034,
+                    0.22166958303429574
+                ],
+                [
+                    -0.30052462396002716,
+                    0.6093179461647206,
+                    -0.7337687584486622
+                ],
+                [
+                    0.014194988131176929,
+                    -0.7663892595997452,
+                    -0.6422195925710384
+                ]
+            ],
+            "translation_vector": [
+                0.6593451063905716,
+                0.2682362163828666,
+                0.43291252833702076
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536605550956293,
+                    -0.20345648479278133,
+                    0.22166868170867376
+                ],
+                [
+                    -0.3005481652566907,
+                    0.609309003036275,
+                    -0.7337665426958211
+                ],
+                [
+                    0.01422483797916668,
+                    -0.7663863240003087,
+                    -0.6422224352743846
+                ]
+            ],
+            "translation_vector": [
+                0.6593512767083902,
+                0.2682381282577888,
+                0.43291150555678637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536607948561571,
+                    -0.20344856764801514,
+                    0.221674916660171
+                ],
+                [
+                    -0.30054808997344223,
+                    0.6093215183181553,
+                    -0.7337561808446822
+                ],
+                [
+                    0.014210347203302541,
+                    -0.7663784754521941,
+                    -0.642232121896696
+                ]
+            ],
+            "translation_vector": [
+                0.6593498160818969,
+                0.2682396914641937,
+                0.43290429261992536
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536754231529901,
+                    -0.20339565568111054,
+                    0.22166053894190674
+                ],
+                [
+                    -0.3005033917985907,
+                    0.6093474546699077,
+                    -0.7337529495714811
+                ],
+                [
+                    0.014173877081029313,
+                    -0.7663718984522833,
+                    -0.6422407760887936
+                ]
+            ],
+            "translation_vector": [
+                0.659341180365869,
+                0.26822790934041657,
+                0.4329080467158758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536754231529901,
+                    -0.20339565568111054,
+                    0.22166053894190674
+                ],
+                [
+                    -0.3005033917985907,
+                    0.6093474546699077,
+                    -0.7337529495714811
+                ],
+                [
+                    0.014173877081029313,
+                    -0.7663718984522833,
+                    -0.6422407760887936
+                ]
+            ],
+            "translation_vector": [
+                0.659341180365869,
+                0.26822790934041657,
+                0.4329080467158758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953675684794821,
+                    -0.2033814985099262,
+                    0.22167240309742262
+                ],
+                [
+                    -0.300503391894774,
+                    0.6093474547652699,
+                    -0.7337529494528957
+                ],
+                [
+                    0.014156259776692657,
+                    -0.766375655559951,
+                    -0.6422366813521246
+                ]
+            ],
+            "translation_vector": [
+                0.6593440847993989,
+                0.2682279093978596,
+                0.4329142950177938
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536777130582393,
+                    -0.20338545722629817,
+                    0.2216600446739471
+                ],
+                [
+                    -0.30049537271183363,
+                    0.609289989352721,
+                    -0.7338039519199508
+                ],
+                [
+                    0.01418980601639073,
+                    -0.7664202924397364,
+                    -0.6421826724085652
+                ]
+            ],
+            "translation_vector": [
+                0.6593405926268938,
+                0.26821869919711394,
+                0.43291380550150166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536709559852744,
+                    -0.20338699748899697,
+                    0.22168770142374575
+                ],
+                [
+                    -0.300518393122942,
+                    0.6093304105782569,
+                    -0.7337609598086684
+                ],
+                [
+                    0.014156380361448586,
+                    -0.7663877478123878,
+                    -0.6422222488345591
+                ]
+            ],
+            "translation_vector": [
+                0.6593454325514272,
+                0.2682342044713192,
+                0.4329239486491422
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536829142330273,
+                    -0.20338059956987412,
+                    0.22164212329473587
+                ],
+                [
+                    -0.3004790058740839,
+                    0.6093199352679476,
+                    -0.7337857885745585
+                ],
+                [
+                    0.014186829417547593,
+                    -0.7663977741379883,
+                    -0.6422096119394467
+                ]
+            ],
+            "translation_vector": [
+                0.6593353234181888,
+                0.26822662695854504,
+                0.4329183735261626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536732009895428,
+                    -0.2034032561993414,
+                    0.22166312521902365
+                ],
+                [
+                    -0.300509946921234,
+                    0.6093293300868998,
+                    -0.7337653162266853
+                ],
+                [
+                    0.01418441101197103,
+                    -0.7663842918949706,
+                    -0.6422257544048577
+                ]
+            ],
+            "translation_vector": [
+                0.6593438683279312,
+                0.26823134423516354,
+                0.43291878744549367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536658604225181,
+                    -0.20341918964359348,
+                    0.22168008469260897
+                ],
+                [
+                    -0.30053297219281794,
+                    0.609313297921672,
+                    -0.733769199136055
+                ],
+                [
+                    0.01419011238607558,
+                    -0.7663928093742532,
+                    -0.6422154641939969
+                ]
+            ],
+            "translation_vector": [
+                0.6593465728441279,
+                0.2682356193853571,
+                0.432911086610321
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536933038348749,
+                    -0.20336351931054,
+                    0.22161308904068025
+                ],
+                [
+                    -0.3004449465139906,
+                    0.609281767582763,
+                    -0.7338314260137878
+                ],
+                [
+                    0.014209726764654089,
+                    -0.7664326498165743,
+                    -0.6421674835745097
+                ]
+            ],
+            "translation_vector": [
+                0.6593288777626829,
+                0.26821071230351734,
+                0.4329161827429804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536693241675055,
+                    -0.2033035083258169,
+                    0.2217712867895843
+                ],
+                [
+                    -0.3005282039801175,
+                    0.6092937417308967,
+                    -0.7337873908020284
+                ],
+                [
+                    0.01405769377879799,
+                    -0.7664390515820408,
+                    -0.6421631891160093
+                ]
+            ],
+            "translation_vector": [
+                0.6593573644028811,
+                0.2682395354533236,
+                0.4329658682793503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536880167744385,
+                    -0.20339305036789773,
+                    0.22160874017709717
+                ],
+                [
+                    -0.3004608833398545,
+                    0.609294912009102,
+                    -0.7338139871809852
+                ],
+                [
+                    0.014227587408717598,
+                    -0.7664143639454201,
+                    -0.6421889118434425
+                ]
+            ],
+            "translation_vector": [
+                0.6593293099074277,
+                0.2682306342901177,
+                0.43292070810521915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536809128265824,
+                    -0.20335893548201198,
+                    0.22167061120022166
+                ],
+                [
+                    -0.30048589774644135,
+                    0.6092625954091659,
+                    -0.7338305765575613
+                ],
+                [
+                    0.014175392967113528,
+                    -0.7664491067219732,
+                    -0.642148600433979
+                ]
+            ],
+            "translation_vector": [
+                0.6593422963542991,
+                0.26822112472571413,
+                0.4329343787393047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536563105834724,
+                    -0.20334980872184671,
+                    0.22178479789450817
+                ],
+                [
+                    -0.3005687042911577,
+                    0.6093076425647996,
+                    -0.7337592593711245
+                ],
+                [
+                    0.014074632679188702,
+                    -0.7664157174829564,
+                    -0.6421906669440404
+                ]
+            ],
+            "translation_vector": [
+                0.659367119666458,
+                0.268240965960729,
+                0.43295347052488103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536722571161339,
+                    -0.20344564078814958,
+                    0.22162828621662345
+                ],
+                [
+                    -0.30050959672226973,
+                    0.6092823582679807,
+                    -0.7338044631788682
+                ],
+                [
+                    0.014255114339673478,
+                    -0.7664103855948895,
+                    -0.6421930492986168
+                ]
+            ],
+            "translation_vector": [
+                0.6593444524034711,
+                0.2682252772158277,
+                0.4329025595253191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536597444232638,
+                    -0.2033350947922604,
+                    0.22178352304077475
+                ],
+                [
+                    -0.3005579449621902,
+                    0.609291717044786,
+                    -0.7337768906559553
+                ],
+                [
+                    0.014071730052143124,
+                    -0.7664322819182653,
+                    -0.6421709613855962
+                ]
+            ],
+            "translation_vector": [
+                0.659363444926931,
+                0.2682479509771779,
+                0.432959843756755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536545324991124,
+                    -0.2034609312221922,
+                    0.22169050974297072
+                ],
+                [
+                    -0.3005665549215124,
+                    0.6092404700627977,
+                    -0.7338159140413045
+                ],
+                [
+                    0.014240038852239144,
+                    -0.7664396252177077,
+                    -0.6421584868158539
+                ]
+            ],
+            "translation_vector": [
+                0.6593559682542394,
+                0.2682407905697447,
+                0.4329315002874135
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536587195598343,
+                    -0.20343350313357159,
+                    0.22169766893294252
+                ],
+                [
+                    -0.3005555016067748,
+                    0.6093009360582916,
+                    -0.7337702363631207
+                ],
+                [
+                    0.014192852475715365,
+                    -0.7663988381523638,
+                    -0.6422082090858928
+                ]
+            ],
+            "translation_vector": [
+                0.6593504017625652,
+                0.26824368604247545,
+                0.43292035591475136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536584893585,
+                    -0.20338741055864804,
+                    0.22174094547627515
+                ],
+                [
+                    -0.3005588050315305,
+                    0.6092859026759802,
+                    -0.7337813662926683
+                ],
+                [
+                    0.014138259881714911,
+                    -0.7664230228969929,
+                    -0.6421805506093695
+                ]
+            ],
+            "translation_vector": [
+                0.6593569309568141,
+                0.26824196018062196,
+                0.4329344205379956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536549282271511,
+                    -0.2033940600934797,
+                    0.22175016163862793
+                ],
+                [
+                    -0.300570016496058,
+                    0.6092768604731545,
+                    -0.7337842819763423
+                ],
+                [
+                    0.014140122051349133,
+                    -0.7664284465040863,
+                    -0.6421740366424874
+                ]
+            ],
+            "translation_vector": [
+                0.6593600943151261,
+                0.2682442646468013,
+                0.432940132071804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536732150701122,
+                    -0.20340425307361454,
+                    0.22166214987994773
+                ],
+                [
+                    -0.3005082260980526,
+                    0.609242281421407,
+                    -0.7338382986570275
+                ],
+                [
+                    0.014219877117511489,
+                    -0.7664532290753324,
+                    -0.6421426965517546
+                ]
+            ],
+            "translation_vector": [
+                0.6593458771731417,
+                0.2682267326524562,
+                0.4329279058656098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536574906666329,
+                    -0.20344134624479862,
+                    0.22169575804134162
+                ],
+                [
+                    -0.30055940789140134,
+                    0.6093181981862716,
+                    -0.7337543019887557
+                ],
+                [
+                    0.01419270317421508,
+                    -0.7663830321693844,
+                    -0.6422270744678
+                ]
+            ],
+            "translation_vector": [
+                0.6593533245342561,
+                0.2682454539558581,
+                0.43291467690641094
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536564174372463,
+                    -0.20340153868294225,
+                    0.2217368971149551
+                ],
+                [
+                    -0.300564754470792,
+                    0.6092835117267088,
+                    -0.7337809146522428
+                ],
+                [
+                    0.014151531742859151,
+                    -0.7664211742895555,
+                    -0.6421824645300975
+                ]
+            ],
+            "translation_vector": [
+                0.6593568561620169,
+                0.2682362697508639,
+                0.4329318681974256
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536672928036926,
+                    -0.2033983506514893,
+                    0.2216930436182656
+                ],
+                [
+                    -0.3005292089291666,
+                    0.6092971671644027,
+                    -0.7337841349237825
+                ],
+                [
+                    0.014173539321063675,
+                    -0.7664111644787597,
+                    -0.6421939253414242
+                ]
+            ],
+            "translation_vector": [
+                0.6593452870460565,
+                0.2682333798849572,
+                0.43292360689828896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536752253818545,
+                    -0.20335163985631455,
+                    0.22170177054010423
+                ],
+                [
+                    -0.3005058481698809,
+                    0.609299316482594,
+                    -0.7337919174735742
+                ],
+                [
+                    0.014135052478494281,
+                    -0.7664218508769124,
+                    -0.6421820199833056
+                ]
+            ],
+            "translation_vector": [
+                0.6593406764958476,
+                0.2682333628950022,
+                0.43293829227960673
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536610554716438,
+                    -0.20342876746180938,
+                    0.22169196612795763
+                ],
+                [
+                    -0.30054786769146213,
+                    0.6092905310213945,
+                    -0.7337820030729719
+                ],
+                [
+                    0.014197552705511958,
+                    -0.7664083672407529,
+                    -0.6421967331904905
+                ]
+            ],
+            "translation_vector": [
+                0.6593508474562049,
+                0.26823845680598496,
+                0.432919382929713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536663511253612,
+                    -0.20338493740788469,
+                    0.22170939981613366
+                ],
+                [
+                    -0.30053289260194244,
+                    0.6092834420884435,
+                    -0.7337940226393018
+                ],
+                [
+                    0.014158785101437477,
+                    -0.7664256352918069,
+                    -0.6421769805684429
+                ]
+            ],
+            "translation_vector": [
+                0.6593491183745536,
+                0.26823391309430134,
+                0.4329340211920175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536693943944512,
+                    -0.20336583024118599,
+                    0.22171383647764054
+                ],
+                [
+                    -0.3005246243432006,
+                    0.6093179465315598,
+                    -0.733768757987107
+                ],
+                [
+                    0.014129273112901847,
+                    -0.7664032744742657,
+                    -0.6422043167998988
+                ]
+            ],
+            "translation_vector": [
+                0.6593569886135566,
+                0.26823621661297276,
+                0.4329353167298043
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953663763027032,
+                    -0.2034291834582827,
+                    0.22167993686082105
+                ],
+                [
+                    -0.30053854342190667,
+                    0.6092723702121523,
+                    -0.733800901344435
+                ],
+                [
+                    0.014213057621777546,
+                    -0.7664226942187732,
+                    -0.6421792917709802
+                ]
+            ],
+            "translation_vector": [
+                0.6593497708882662,
+                0.2682407176056773,
+                0.4329304453643055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536689582389212,
+                    -0.20338176324607107,
+                    0.22170109713397845
+                ],
+                [
+                    -0.30052464934104883,
+                    0.6092938129177583,
+                    -0.7337887875121694
+                ],
+                [
+                    0.014158150653609593,
+                    -0.7664182330288463,
+                    -0.6421858289085884
+                ]
+            ],
+            "translation_vector": [
+                0.6593448474868875,
+                0.2682379678401112,
+                0.43293574072646496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536678023282789,
+                    -0.20337076230838788,
+                    0.22171616053065663
+                ],
+                [
+                    -0.30052920912147907,
+                    0.6092971673524683,
+                    -0.7337841346888583
+                ],
+                [
+                    0.014139210273879496,
+                    -0.7664184854858105,
+                    -0.6421859449088462
+                ]
+            ],
+            "translation_vector": [
+                0.6593511563837197,
+                0.26823338000006325,
+                0.43293583104956895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536635794209029,
+                    -0.20338603195722374,
+                    0.22172031772214057
+                ],
+                [
+                    -0.3005420243094912,
+                    0.6092848134897878,
+                    -0.7337891438789951
+                ],
+                [
+                    0.014151639836606106,
+                    -0.7664242546105977,
+                    -0.6421787858801669
+                ]
+            ],
+            "translation_vector": [
+                0.659352218616398,
+                0.2682438481527344,
+                0.43293403977112227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536663511253612,
+                    -0.20338493740788469,
+                    0.22170939981613366
+                ],
+                [
+                    -0.30053289260194244,
+                    0.6092834420884435,
+                    -0.7337940226393018
+                ],
+                [
+                    0.014158785101437477,
+                    -0.7664256352918069,
+                    -0.6421769805684429
+                ]
+            ],
+            "translation_vector": [
+                0.6593491183745536,
+                0.26823391309430134,
+                0.4329340211920175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536697325189478,
+                    -0.20338841791824933,
+                    0.22169166139922883
+                ],
+                [
+                    -0.3005219315009629,
+                    0.6093074456179772,
+                    -0.7337785806368478
+                ],
+                [
+                    0.014163684696057369,
+                    -0.7664056290054293,
+                    -0.642200748882017
+                ]
+            ],
+            "translation_vector": [
+                0.6593432725037188,
+                0.26823490197961136,
+                0.43292540145352454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536722354395355,
+                    -0.20339044091759131,
+                    0.22167903801466463
+                ],
+                [
+                    -0.3005133322641472,
+                    0.6092971322546084,
+                    -0.7337906661697251
+                ],
+                [
+                    0.014177604990177863,
+                    -0.7664132913576451,
+                    -0.6421912973149702
+                ]
+            ],
+            "translation_vector": [
+                0.6593414618198498,
+                0.2682322056811401,
+                0.43292435359682974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536601581195695,
+                    -0.20342005583626277,
+                    0.22170381976621245
+                ],
+                [
+                    -0.30055181807124515,
+                    0.6093146610262317,
+                    -0.7337603481468304
+                ],
+                [
+                    0.014174183201393386,
+                    -0.7663914957396516,
+                    -0.6422173835925911
+                ]
+            ],
+            "translation_vector": [
+                0.6593525009935393,
+                0.2682431530454936,
+                0.43292143540194417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536625526612491,
+                    -0.20337640172891736,
+                    0.2217335673086705
+                ],
+                [
+                    -0.3005456858841236,
+                    0.6092672209205213,
+                    -0.7338022514330595
+                ],
+                [
+                    0.014143067138086768,
+                    -0.766440795320541,
+                    -0.642159233306152
+                ]
+            ],
+            "translation_vector": [
+                0.6593565131419202,
+                0.26822546090050314,
+                0.432930603139905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536621331558284,
+                    -0.20336939248707886,
+                    0.22174180026353119
+                ],
+                [
+                    -0.30054790888365834,
+                    0.6092892913284527,
+                    -0.7337830155694071
+                ],
+                [
+                    0.014124101753224861,
+                    -0.7664251102827392,
+                    -0.6421783709202267
+                ]
+            ],
+            "translation_vector": [
+                0.6593537519265457,
+                0.2682410780232336,
+                0.43294547283378537
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536626470952442,
+                    -0.20342107159375455,
+                    0.2216921811136795
+                ],
+                [
+                    -0.3005431348621356,
+                    0.6092939619820871,
+                    -0.7337810926832413
+                ],
+                [
+                    0.014190828817656766,
+                    -0.7664076823230702,
+                    -0.6421976991967882
+                ]
+            ],
+            "translation_vector": [
+                0.659348849884646,
+                0.268241150622776,
+                0.4329177011800154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536642631867539,
+                    -0.20337624255724746,
+                    0.22172635631282478
+                ],
+                [
+                    -0.3005405260482422,
+                    0.6092938478287515,
+                    -0.7337822559865294
+                ],
+                [
+                    0.014137373274830764,
+                    -0.7664196702599239,
+                    -0.6421845713776985
+                ]
+            ],
+            "translation_vector": [
+                0.6593516378236929,
+                0.26823914214608413,
+                0.432940741009983
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536724723920056,
+                    -0.2033605278299668,
+                    0.22170546029008087
+                ],
+                [
+                    -0.3005138237092081,
+                    0.6092671503987378,
+                    -0.7338153590683921
+                ],
+                [
+                    0.01415122473110675,
+                    -0.766445063370963,
+                    -0.6421539594777024
+                ]
+            ],
+            "translation_vector": [
+                0.659348836468099,
+                0.2682231044547341,
+                0.4329323309707532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536660694309069,
+                    -0.20342410375068937,
+                    0.2216746761121649
+                ],
+                [
+                    -0.3005322579064655,
+                    0.609328350970143,
+                    -0.7337569915589549
+                ],
+                [
+                    0.014191193531416487,
+                    -0.7663795369901492,
+                    -0.6422312786753064
+                ]
+            ],
+            "translation_vector": [
+                0.6593447218574088,
+                0.2682414456904828,
+                0.4329129234628869
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536639485787555,
+                    -0.20338642392982692,
+                    0.221718370330953
+                ],
+                [
+                    -0.3005402470243642,
+                    0.6092560380412515,
+                    -0.7338137638589314
+                ],
+                [
+                    0.014164501392955121,
+                    -0.7664470253522511,
+                    -0.6421513250231407
+                ]
+            ],
+            "translation_vector": [
+                0.659350969546776,
+                0.2682349777956199,
+                0.43294218646557897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536639308651753,
+                    -0.20335287483960335,
+                    0.2217492170476611
+                ],
+                [
+                    -0.3005430738017602,
+                    0.6092951080786924,
+                    -0.7337801660314651
+                ],
+                [
+                    0.014105593095359767,
+                    -0.7664248688331057,
+                    -0.6421790658979666
+                ]
+            ],
+            "translation_vector": [
+                0.6593621438457783,
+                0.26824062137112015,
+                0.4329489464170634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536608486296567,
+                    -0.20344035267382984,
+                    0.22168222458039066
+                ],
+                [
+                    -0.3005481189977292,
+                    0.6093054928658385,
+                    -0.7337694764232462
+                ],
+                [
+                    0.014206123957286222,
+                    -0.7663933971972003,
+                    -0.6422144087255008
+                ]
+            ],
+            "translation_vector": [
+                0.659348287301424,
+                0.26824175024369495,
+                0.4329154715560465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536537869597459,
+                    -0.20341586011942994,
+                    0.22173507270887077
+                ],
+                [
+                    -0.3005724180104597,
+                    0.6092745331959846,
+                    -0.7337852306568735
+                ],
+                [
+                    0.014166020919127222,
+                    -0.7664245109928883,
+                    -0.6421781628182566
+                ]
+            ],
+            "translation_vector": [
+                0.6593619829392924,
+                0.2682370074639137,
+                0.43293899659461377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536642766061623,
+                    -0.20337551503671678,
+                    0.22172696590355276
+                ],
+                [
+                    -0.3005405260482916,
+                    0.6092938478314234,
+                    -0.7337822559842904
+                ],
+                [
+                    0.0141364680122465,
+                    -0.7664198633114415,
+                    -0.6421843609072166
+                ]
+            ],
+            "translation_vector": [
+                0.6593515766533701,
+                0.26823914214585953,
+                0.4329411662523694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536574622114032,
+                    -0.20344246357267434,
+                    0.22169485511393178
+                ],
+                [
+                    -0.30055915642472336,
+                    0.6093032365232653,
+                    -0.7337668290755127
+                ],
+                [
+                    0.01419993865355667,
+                    -0.7663946307078066,
+                    -0.642213073492342
+                ]
+            ],
+            "translation_vector": [
+                0.6593528580811499,
+                0.268242160331163,
+                0.4329131902552769
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536556534505051,
+                    -0.20335467812673408,
+                    0.22178315879674695
+                ],
+                [
+                    -0.30057001678307443,
+                    0.6092768607473223,
+                    -0.7337842816311283
+                ],
+                [
+                    0.014091119647247925,
+                    -0.7664388963523845,
+                    -0.6421626417857291
+                ]
+            ],
+            "translation_vector": [
+                0.6593690099158565,
+                0.2682442648192341,
+                0.4329569453550983
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536460042169724,
+                    -0.2034207755140085,
+                    0.22176403389702715
+                ],
+                [
+                    -0.30059844464828933,
+                    0.6093056165347936,
+                    -0.7337487585912392
+                ],
+                [
+                    0.014137670106199809,
+                    -0.766398495398076,
+                    -0.6422098352840245
+                ]
+            ],
+            "translation_vector": [
+                0.6593642838483063,
+                0.2682493816878788,
+                0.43293047967594145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536706803912266,
+                    -0.20342055771674292,
+                    0.22165809270212533
+                ],
+                [
+                    -0.300516085859179,
+                    0.6092676144956755,
+                    -0.7338140473353093
+                ],
+                [
+                    0.014223765395043763,
+                    -0.766428764220758,
+                    -0.6421718102447572
+                ]
+            ],
+            "translation_vector": [
+                0.659342873113693,
+                0.2682352370838302,
+                0.43292488794815315
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536651433938468,
+                    -0.20333796865134166,
+                    0.22175767129986731
+                ],
+                [
+                    -0.30053969616702386,
+                    0.6092802793287891,
+                    -0.7337938622316665
+                ],
+                [
+                    0.01409557744212441,
+                    -0.7664406120018556,
+                    -0.6421604962708267
+                ]
+            ],
+            "translation_vector": [
+                0.6593640703566156,
+                0.2682406415530799,
+                0.43296934686903177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536662604752782,
+                    -0.20340669989429583,
+                    0.22168982400915724
+                ],
+                [
+                    -0.30053199120555407,
+                    0.609290496354785,
+                    -0.7337885344660033
+                ],
+                [
+                    0.014184001308657044,
+                    -0.7664142518833089,
+                    -0.6421900097455772
+                ]
+            ],
+            "translation_vector": [
+                0.6593499264817707,
+                0.26823728258741325,
+                0.43292660701613606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536765544306017,
+                    -0.20333646012072246,
+                    0.22170997612861276
+                ],
+                [
+                    -0.3005022502119895,
+                    0.6092925208149845,
+                    -0.7337990335892064
+                ],
+                [
+                    0.014121867684803894,
+                    -0.766431280718954,
+                    -0.6421710557075874
+                ]
+            ],
+            "translation_vector": [
+                0.6593528234548267,
+                0.2682288674050742,
+                0.43294901937799185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536698788367283,
+                    -0.20332497231959698,
+                    0.22174922284142357
+                ],
+                [
+                    -0.3005243705986048,
+                    0.6092560034913173,
+                    -0.7338202946812665
+                ],
+                [
+                    0.014101945817955827,
+                    -0.7664633571417642,
+                    -0.6421332083634395
+                ]
+            ],
+            "translation_vector": [
+                0.659358963229744,
+                0.2682338038160006,
+                0.43296622318728023
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953653179080266,
+                    -0.2033750074323264,
+                    0.22177515726970745
+                ],
+                [
+                    -0.3005767175548316,
+                    0.6092633649578334,
+                    -0.7337927425262676
+                ],
+                [
+                    0.014115625882872103,
+                    -0.7664442305035374,
+                    -0.6421557370558763
+                ]
+            ],
+            "translation_vector": [
+                0.6593674750730737,
+                0.2682516848730855,
+                0.4329595702466485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536586926367481,
+                    -0.2033754425586852,
+                    0.22175104807515025
+                ],
+                [
+                    -0.30055901168740445,
+                    0.609293997233488,
+                    -0.7337745603581045
+                ],
+                [
+                    0.014120143478710408,
+                    -0.7664197637713277,
+                    -0.6421848388500333
+                ]
+            ],
+            "translation_vector": [
+                0.6593644957850585,
+                0.26824232517102087,
+                0.43294016850896894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536710697992918,
+                    -0.20330774420319872,
+                    0.22175989667854976
+                ],
+                [
+                    -0.3005211789545539,
+                    0.6092397461882143,
+                    -0.7338350990953524
+                ],
+                [
+                    0.014089415447042558,
+                    -0.7664808496052119,
+                    -0.6421126034900995
+                ]
+            ],
+            "translation_vector": [
+                0.6593624455584151,
+                0.26822416960566214,
+                0.4329642880732274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536627276695298,
+                    -0.20335361846849156,
+                    0.22175370957366985
+                ],
+                [
+                    -0.30054675730895236,
+                    0.6092813829411049,
+                    -0.7337900538113397
+                ],
+                [
+                    0.014108455797359292,
+                    -0.766435582588091,
+                    -0.6421662161916244
+                ]
+            ],
+            "translation_vector": [
+                0.6593630707917754,
+                0.26824115452701647,
+                0.43295295981419646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536582482447973,
+                    -0.20340089338143566,
+                    0.22172961490585438
+                ],
+                [
+                    -0.30055895000314653,
+                    0.6092951424537002,
+                    -0.7337736346826121
+                ],
+                [
+                    0.014151435533919834,
+                    -0.7664120993003434,
+                    -0.6421932971608862
+                ]
+            ],
+            "translation_vector": [
+                0.6593571141990271,
+                0.2682417955263213,
+                0.4329306564567936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536529742300867,
+                    -0.20337669706336364,
+                    0.2217744886899893
+                ],
+                [
+                    -0.3005776060413699,
+                    0.6092803978626118,
+                    -0.7337782359315494
+                ],
+                [
+                    0.014110545295926076,
+                    -0.7664302420129143,
+                    -0.6421725442896772
+                ]
+            ],
+            "translation_vector": [
+                0.6593698953775425,
+                0.2682465655234986,
+                0.4329496853289209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536400326333561,
+                    -0.2034189171031827,
+                    0.2217914162532457
+                ],
+                [
+                    -0.3006182116807831,
+                    0.6093000197393367,
+                    -0.7337453078224707
+                ],
+                [
+                    0.014120161645670499,
+                    -0.7664034382165916,
+                    -0.6422043217893257
+                ]
+            ],
+            "translation_vector": [
+                0.6593767232796482,
+                0.2682514545655491,
+                0.432938491537241
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536566511094354,
+                    -0.2033655211046714,
+                    0.22176892618345334
+                ],
+                [
+                    -0.30056658372189476,
+                    0.6093055478823,
+                    -0.7337618674131273
+                ],
+                [
+                    0.014096827461728963,
+                    -0.7664132137076423,
+                    -0.642193168221088
+                ]
+            ],
+            "translation_vector": [
+                0.6593655233139092,
+                0.26824702487424923,
+                0.4329490204254187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536708716852438,
+                    -0.20338447897018827,
+                    0.22169037465152241
+                ],
+                [
+                    -0.300518126683548,
+                    0.6092925555580686,
+                    -0.73379250287539
+                ],
+                [
+                    0.014167710955489719,
+                    -0.7664185119473194,
+                    -0.6421852851870234
+                ]
+            ],
+            "translation_vector": [
+                0.6593477938379427,
+                0.2682300413852871,
+                0.432930653535115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536620448199531,
+                    -0.203375228488817,
+                    0.2217368275838445
+                ],
+                [
+                    -0.30054786807468337,
+                    0.6092905313909133,
+                    -0.7337820026091821
+                ],
+                [
+                    0.014130932934128164,
+                    -0.7664225758643209,
+                    -0.6421812453972097
+                ]
+            ],
+            "translation_vector": [
+                0.659362668022235,
+                0.2682384570358646,
+                0.43294259695550497
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536650016417548,
+                    -0.20333613351103647,
+                    0.22175996359220027
+                ],
+                [
+                    -0.30054052633530937,
+                    0.6092938481055926,
+                    -0.7337822556390791
+                ],
+                [
+                    0.014087465127809305,
+                    -0.7664303122068317,
+                    -0.6421729672423246
+                ]
+            ],
+            "translation_vector": [
+                0.6593604921970531,
+                0.2682391423182896,
+                0.4329581316858823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536682045925985,
+                    -0.20336584697443655,
+                    0.2217189388245855
+                ],
+                [
+                    -0.30052830794449026,
+                    0.6093042216745411,
+                    -0.7337786461689955
+                ],
+                [
+                    0.0141312304188938,
+                    -0.7664141815845741,
+                    -0.6421912570199756
+                ]
+            ],
+            "translation_vector": [
+                0.659357854534291,
+                0.26823674964989236,
+                0.43293975535818513
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536573194191302,
+                    -0.20338072264111037,
+                    0.22175211109772733
+                ],
+                [
+                    -0.300562856522326,
+                    0.6092735329690868,
+                    -0.7337899776519893
+                ],
+                [
+                    0.01413104374980009,
+                    -0.7664346310556087,
+                    -0.6421668552029094
+                ]
+            ],
+            "translation_vector": [
+                0.659364012028628,
+                0.2682447507797163,
+                0.43295216051430324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536626128147642,
+                    -0.20333689077477946,
+                    0.2217695420236133
+                ],
+                [
+                    -0.30054788082850836,
+                    0.6092664443840649,
+                    -0.7338019971879967
+                ],
+                [
+                    0.014092276211121385,
+                    -0.7664518958145028,
+                    -0.6421471008682861
+                ]
+            ],
+            "translation_vector": [
+                0.6593622815960162,
+                0.26824020690606615,
+                0.43296679865188403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953655447810542,
+                    -0.20336626463190377,
+                    0.2217734187655085
+                ],
+                [
+                    -0.30057026731254866,
+                    0.6092918229097244,
+                    -0.7337717553456312
+                ],
+                [
+                    0.014099690384477847,
+                    -0.7664239276960321,
+                    -0.6421803187470403
+                ]
+            ],
+            "translation_vector": [
+                0.6593664502528257,
+                0.26824755797528377,
+                0.4329531101138762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536555949983452,
+                    -0.20337279591646149,
+                    0.22176679645400907
+                ],
+                [
+                    -0.3005693632217712,
+                    0.6092907685801698,
+                    -0.7337730011491602
+                ],
+                [
+                    0.014109004954692379,
+                    -0.7664230327985373,
+                    -0.6421811822025628
+                ]
+            ],
+            "translation_vector": [
+                0.6593655631639249,
+                0.26825062027096436,
+                0.4329518300925325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536543559525416,
+                    -0.20339138886919392,
+                    0.22175507278663115
+                ],
+                [
+                    -0.3005723877124863,
+                    0.6092939172822395,
+                    -0.7337691476940679
+                ],
+                [
+                    0.014128309083486501,
+                    -0.7664155956768655,
+                    -0.6421896336641675
+                ]
+            ],
+            "translation_vector": [
+                0.6593592532911211,
+                0.2682414988876891,
+                0.43293951497772926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536723297102065,
+                    -0.20336952422556975,
+                    0.22169782173348584
+                ],
+                [
+                    -0.30051429805241153,
+                    0.6092970402198382,
+                    -0.7337903470647535
+                ],
+                [
+                    0.014150767158476333,
+                    -0.7664189150820917,
+                    -0.6421851776498866
+                ]
+            ],
+            "translation_vector": [
+                0.6593466222585845,
+                0.2682296729360747,
+                0.43293082954254747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536713073545313,
+                    -0.20337630010145683,
+                    0.22169600376583656
+                ],
+                [
+                    -0.3005170158889312,
+                    0.6092834071780842,
+                    -0.7338005538964095
+                ],
+                [
+                    0.014161945131637179,
+                    -0.7664279550580783,
+                    -0.6421741422819681
+                ]
+            ],
+            "translation_vector": [
+                0.6593452319713571,
+                0.26823273888836807,
+                0.4329352693611616
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953649307360971,
+                    -0.20341447329981613,
+                    0.221755610125423
+                ],
+                [
+                    -0.3005874342990784,
+                    0.6092803815676321,
+                    -0.7337742234354503
+                ],
+                [
+                    0.014148954429122956,
+                    -0.7664202298275792,
+                    -0.6421836484990905
+                ]
+            ],
+            "translation_vector": [
+                0.659363712510719,
+                0.2682441725132317,
+                0.43294412367411655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536585161981409,
+                    -0.2033859555110384,
+                    0.22174216464989802
+                ],
+                [
+                    -0.30055880503162924,
+                    0.6092859026813249,
+                    -0.7337813662881901
+                ],
+                [
+                    0.014136449367494622,
+                    -0.7664234090205398,
+                    -0.6421801296401307
+                ]
+            ],
+            "translation_vector": [
+                0.6593568086276917,
+                0.2682419601801728,
+                0.43293542362065035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536523713749139,
+                    -0.20334594363131678,
+                    0.22180527897165453
+                ],
+                [
+                    -0.30058117631312276,
+                    0.6092643481604937,
+                    -0.7337900997606803
+                ],
+                [
+                    0.014075191551932084,
+                    -0.7664511603939673,
+                    -0.6421483533526487
+                ]
+            ],
+            "translation_vector": [
+                0.6593692431000342,
+                0.26825018999586986,
+                0.4329661071488795
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536589874357198,
+                    -0.20336078473140137,
+                    0.22176322264186824
+                ],
+                [
+                    -0.300558950290218,
+                    0.6092951427305311,
+                    -0.7337736343351569
+                ],
+                [
+                    0.014101527701650251,
+                    -0.7664227425373094,
+                    -0.6421816928549655
+                ]
+            ],
+            "translation_vector": [
+                0.65936596909614,
+                0.26824179569853257,
+                0.4329480474193024
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536620015553656,
+                    -0.20339300026496376,
+                    0.22172071223192194
+                ],
+                [
+                    -0.30054675702192607,
+                    0.6092813826669388,
+                    -0.7337900541565463
+                ],
+                [
+                    0.014157458564926288,
+                    -0.7664251327942478,
+                    -0.642177609535168
+                ]
+            ],
+            "translation_vector": [
+                0.6593541549862603,
+                0.2682411543545836,
+                0.4329362231300276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536707195013406,
+                    -0.2033348791366461,
+                    0.22173652313563805
+                ],
+                [
+                    -0.3005219318841679,
+                    0.6093074459875099,
+                    -0.7337785801730561
+                ],
+                [
+                    0.0140970643186221,
+                    -0.766419834810311,
+                    -0.6421852611100113
+                ]
+            ],
+            "translation_vector": [
+                0.6593550926493351,
+                0.26823490220948454,
+                0.43294861495013887
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536803615109647,
+                    -0.203375558694514,
+                    0.22165773208713105
+                ],
+                [
+                    -0.3004872772482148,
+                    0.6092935390983748,
+                    -0.7338043195736396
+                ],
+                [
+                    0.014183239413849111,
+                    -0.7664200971651723,
+                    -0.6421830505245822
+                ]
+            ],
+            "translation_vector": [
+                0.6593380650454768,
+                0.26822463075924097,
+                0.4329277564812963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536610554716438,
+                    -0.20342876746180938,
+                    0.22169196612795763
+                ],
+                [
+                    -0.30054786769146213,
+                    0.6092905310213945,
+                    -0.7337820030729719
+                ],
+                [
+                    0.014197552705511958,
+                    -0.7664083672407529,
+                    -0.6421967331904905
+                ]
+            ],
+            "translation_vector": [
+                0.6593508474562049,
+                0.26823845680598496,
+                0.432919382929713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536596557209103,
+                    -0.20337598650764843,
+                    0.22174640732673945
+                ],
+                [
+                    -0.3005552225362974,
+                    0.6092631276092174,
+                    -0.7338017440303558
+                ],
+                [
+                    0.014135743929209623,
+                    -0.7664441593801051,
+                    -0.6421553794025965
+                ]
+            ],
+            "translation_vector": [
+                0.6593644577940325,
+                0.26823952165653575,
+                0.43295126383811894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536597219886375,
+                    -0.20337923731199836,
+                    0.22174314078894222
+                ],
+                [
+                    -0.30055550199004155,
+                    0.609300936430475,
+                    -0.7337702358970829
+                ],
+                [
+                    0.014125327609256635,
+                    -0.7664132401618181,
+                    -0.6421925104083627
+                ]
+            ],
+            "translation_vector": [
+                0.6593621610930188,
+                0.2682436862721297,
+                0.43294399516184323
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536661333612525,
+                    -0.20339070182258429,
+                    0.2217050484132333
+                ],
+                [
+                    -0.3005331150568672,
+                    0.6092755573938198,
+                    -0.7338004782750324
+                ],
+                [
+                    0.014168727325110335,
+                    -0.7664303735986504,
+                    -0.6421711061636297
+                ]
+            ],
+            "translation_vector": [
+                0.6593491994700732,
+                0.2682363349927681,
+                0.43293971536297765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536706637695241,
+                    -0.203353378016657,
+                    0.22171979775069725
+                ],
+                [
+                    -0.3005208207576179,
+                    0.6092982977751341,
+                    -0.733786631535007
+                ],
+                [
+                    0.014124494913560796,
+                    -0.7664221995594459,
+                    -0.6421818361382532
+                ]
+            ],
+            "translation_vector": [
+                0.6593466410004327,
+                0.26823759944026615,
+                0.4329416635385816
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536668038123631,
+                    -0.20336981866557008,
+                    0.22172132094646527
+                ],
+                [
+                    -0.3005320038344143,
+                    0.6092664092797816,
+                    -0.7338085289737329
+                ],
+                [
+                    0.014147154398813803,
+                    -0.766443187313486,
+                    -0.6421562883310895
+                ]
+            ],
+            "translation_vector": [
+                0.6593496636066563,
+                0.2682390324820042,
+                0.43294972920189556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536642100473878,
+                    -0.20337226537081504,
+                    0.22173023283403445
+                ],
+                [
+                    -0.30054024712054495,
+                    0.6092560381366263,
+                    -0.7338137637403542
+                ],
+                [
+                    0.0141468843005842,
+                    -0.7664507822893819,
+                    -0.6421472292181765
+                ]
+            ],
+            "translation_vector": [
+                0.6593538733496397,
+                0.2682349778530587,
+                0.4329485875362184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953640528612206,
+                    -0.20338606924298405,
+                    0.22181940633344244
+                ],
+                [
+                    -0.30061772626384825,
+                    0.6092541170004594,
+                    -0.7337836217673063
+                ],
+                [
+                    0.014096979966885262,
+                    -0.766448646522309,
+                    -0.6421508758850483
+                ]
+            ],
+            "translation_vector": [
+                0.6593801873622319,
+                0.26824692501591235,
+                0.4329584065909297
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536722126901763,
+                    -0.20337879861333436,
+                    0.22168981712568667
+                ],
+                [
+                    -0.3005132751723425,
+                    0.6092514378899864,
+                    -0.733828629091409
+                ],
+                [
+                    0.014180345123288255,
+                    -0.7664527054578003,
+                    -0.642144195729124
+                ]
+            ],
+            "translation_vector": [
+                0.6593467439278805,
+                0.2682304633392707,
+                0.43294379373157965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536419055224435,
+                    -0.20339729138943582,
+                    0.22180319629564438
+                ],
+                [
+                    -0.30061341702238437,
+                    0.6093045966252958,
+                    -0.7337434715467063
+                ],
+                [
+                    0.01409572763816258,
+                    -0.766405539115374,
+                    -0.6422023513470067
+                ]
+            ],
+            "translation_vector": [
+                0.6593762603534367,
+                0.26825361871247033,
+                0.432944416160104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536691664893495,
+                    -0.2033636279911897,
+                    0.22171683674852136
+                ],
+                [
+                    -0.3005243703116286,
+                    0.6092560032198032,
+                    -0.7338202950242183
+                ],
+                [
+                    0.014150043685748322,
+                    -0.7664531018600503,
+                    -0.6421443910156027
+                ]
+            ],
+            "translation_vector": [
+                0.6593499869233526,
+                0.2682338036433498,
+                0.43294983566109113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536894948497416,
+                    -0.20335202141578063,
+                    0.2216400297765745
+                ],
+                [
+                    -0.30045803648002384,
+                    0.6092694941875144,
+                    -0.7338362567814836
+                ],
+                [
+                    0.014188577371025196,
+                    -0.7664454571844018,
+                    -0.6421526652078773
+                ]
+            ],
+            "translation_vector": [
+                0.6593301200050079,
+                0.26822603329788497,
+                0.43293697116480984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536471665042743,
+                    -0.20339973971862713,
+                    0.221778330097338
+                ],
+                [
+                    -0.3005956059619441,
+                    0.6092906350651857,
+                    -0.7337623618708137
+                ],
+                [
+                    0.014119613831145081,
+                    -0.7664159888104227,
+                    -0.6421893557207266
+                ]
+            ],
+            "translation_vector": [
+                0.6593742310111484,
+                0.26824198831125956,
+                0.4329396976888643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536714282693181,
+                    -0.20331181377186544,
+                    0.22175462404097357
+                ],
+                [
+                    -0.3005208210447792,
+                    0.6092982980573279,
+                    -0.7337866311830817
+                ],
+                [
+                    0.01407277589287127,
+                    -0.7664332262925705,
+                    -0.6421698113532207
+                ]
+            ],
+            "translation_vector": [
+                0.659355372949633,
+                0.2682375996120201,
+                0.4329600570329101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953680579874474,
+                    -0.20333283079034487,
+                    0.22169598889712064
+                ],
+                [
+                    -0.3004876197668536,
+                    0.6092097106406886,
+                    -0.7338737758143015
+                ],
+                [
+                    0.01416128303290458,
+                    -0.7664980680888073,
+                    -0.6420904684536195
+                ]
+            ],
+            "translation_vector": [
+                0.659346104694708,
+                0.26821345404958774,
+                0.43295501484222826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536536121958292,
+                    -0.20338688484293801,
+                    0.22176240217794502
+                ],
+                [
+                    -0.30057613680270806,
+                    0.6093489655572244,
+                    -0.7337218983777848
+                ],
+                [
+                    0.014098720885488306,
+                    -0.7663730248698907,
+                    -0.6422410862138664
+                ]
+            ],
+            "translation_vector": [
+                0.6593683416335642,
+                0.2682425500275509,
+                0.43292331434114717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953656120048361,
+                    -0.20344372457066792,
+                    0.221699471418226
+                ],
+                [
+                    -0.30056243939055644,
+                    0.6092448774884962,
+                    -0.7338139405064652
+                ],
+                [
+                    0.014220573895052383,
+                    -0.7664406892818533,
+                    -0.6421576481606786
+                ]
+            ],
+            "translation_vector": [
+                0.6593603566762878,
+                0.2682355892589669,
+                0.4329223113996953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536411335722389,
+                    -0.20342208570001868,
+                    0.22178377625180168
+                ],
+                [
+                    -0.30061380223395484,
+                    0.6092688938754608,
+                    -0.7337729600238874
+                ],
+                [
+                    0.014139669921877653,
+                    -0.766427341634696,
+                    -0.6421753652463427
+                ]
+            ],
+            "translation_vector": [
+                0.6593744968982127,
+                0.2682410590197778,
+                0.43292975117909904
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536530766437161,
+                    -0.20348075211118732,
+                    0.22167858021974202
+                ],
+                [
+                    -0.30057047440691853,
+                    0.6092576863415484,
+                    -0.7338000146828453
+                ],
+                [
+                    0.014254799990706253,
+                    -0.7664206776659993,
+                    -0.6421807732431859
+                ]
+            ],
+            "translation_vector": [
+                0.659355806628576,
+                0.26824255980270567,
+                0.43292101499018854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536404005805874,
+                    -0.20340615391017547,
+                    0.2218015395166732
+                ],
+                [
+                    -0.3006178742512304,
+                    0.6093055801410316,
+                    -0.7337408286920337
+                ],
+                [
+                    0.014102484219730985,
+                    -0.7664024051113558,
+                    -0.6422059431197764
+                ]
+            ],
+            "translation_vector": [
+                0.6593689904727227,
+                0.2682521236408366,
+                0.43293506637651324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536619713581083,
+                    -0.20340401488646587,
+                    0.22171073747889
+                ],
+                [
+                    -0.3005458682190708,
+                    0.6092643496209275,
+                    -0.7338045607499546
+                ],
+                [
+                    0.014178345524488248,
+                    -0.7664357500854557,
+                    -0.6421644769910071
+                ]
+            ],
+            "translation_vector": [
+                0.6593487089649748,
+                0.26824627366045173,
+                0.4329407101474748
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536350587747766,
+                    -0.20344387038376016,
+                    0.22178991473668144
+                ],
+                [
+                    -0.300632976456532,
+                    0.6092909054167107,
+                    -0.7337468269392184
+                ],
+                [
+                    0.01414171639210995,
+                    -0.7664040606493163,
+                    -0.6422031046933083
+                ]
+            ],
+            "translation_vector": [
+                0.6593719740767656,
+                0.2682553262832187,
+                0.43293171977932776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536465638121597,
+                    -0.20342204264326177,
+                    0.22176046513322273
+                ],
+                [
+                    -0.3005960302608125,
+                    0.6092793133412884,
+                    -0.7337715890696567
+                ],
+                [
+                    0.014151251559526873,
+                    -0.7664190700271043,
+                    -0.642184982055862
+                ]
+            ],
+            "translation_vector": [
+                0.6593618743387378,
+                0.26825234063345466,
+                0.43292994698173126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953653423119954,
+                    -0.20343521849819035,
+                    0.22171887706324642
+                ],
+                [
+                    -0.3005718421686164,
+                    0.6092424212102606,
+                    -0.7338121284724203
+                ],
+                [
+                    0.014202685202376468,
+                    -0.7664448995671203,
+                    -0.6421530188830301
+                ]
+            ],
+            "translation_vector": [
+                0.6593611429694999,
+                0.26823143760890333,
+                0.4329251855251693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536492621165947,
+                    -0.20342922518977533,
+                    0.2217422720257958
+                ],
+                [
+                    -0.30058718875263035,
+                    0.6093077915002884,
+                    -0.733751563660911
+                ],
+                [
+                    0.014157218027031295,
+                    -0.7663945234379804,
+                    -0.6422141446760622
+                ]
+            ],
+            "translation_vector": [
+                0.6593622673757527,
+                0.2682441487655324,
+                0.4329181157352504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536634208959273,
+                    -0.20339551092567357,
+                    0.22171230407977377
+                ],
+                [
+                    -0.30054272642716334,
+                    0.6093257972784341,
+                    -0.7337548244221148
+                ],
+                [
+                    0.01414741095766717,
+                    -0.7663891563078677,
+                    -0.6422207656693374
+                ]
+            ],
+            "translation_vector": [
+                0.6593507504316202,
+                0.2682347897887837,
+                0.4329216783908059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536254346321207,
+                    -0.20342923805940843,
+                    0.2218447103837903
+                ],
+                [
+                    -0.3006657885050382,
+                    0.6092955344306394,
+                    -0.733729538280643
+                ],
+                [
+                    0.014093049540210798,
+                    -0.7664042646185174,
+                    -0.6422039311069399
+                ]
+            ],
+            "translation_vector": [
+                0.6593923824460477,
+                0.2682510000388757,
+                0.4329446992456857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953645447141766,
+                    -0.20344270423569033,
+                    0.22174631279696883
+                ],
+                [
+                    -0.3005982278428909,
+                    0.6092666628307692,
+                    -0.7337811928502745
+                ],
+                [
+                    0.014179794197913324,
+                    -0.7664236424173827,
+                    -0.6421788954646342
+                ]
+            ],
+            "translation_vector": [
+                0.6593618973086934,
+                0.2682457464505552,
+                0.432925975418019
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536725422371829,
+                    -0.20336190512150523,
+                    0.22170389651113737
+                ],
+                [
+                    -0.3005130685882702,
+                    0.6092433430635206,
+                    -0.7338354342360743
+                ],
+                [
+                    0.014162548871261017,
+                    -0.7664636224101821,
+                    -0.6421315579624878
+                ]
+            ],
+            "translation_vector": [
+                0.6593448852614441,
+                0.26823009868025627,
+                0.4329511941979635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536441936287996,
+                    -0.20344635634912536,
+                    0.2217483529732329
+                ],
+                [
+                    -0.30060189908370544,
+                    0.6092529841562099,
+                    -0.7337910462550106
+                ],
+                [
+                    0.014186268901527709,
+                    -0.7664335466203305,
+                    -0.6421669318717959
+                ]
+            ],
+            "translation_vector": [
+                0.6593630661035341,
+                0.26824627796383776,
+                0.43292804482368424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536743729698328,
+                    -0.20338996329650072,
+                    0.22167028030578373
+                ],
+                [
+                    -0.30050577614183016,
+                    0.6092696010093328,
+                    -0.7338166200021129
+                ],
+                [
+                    0.014193972171060132,
+                    -0.7664353045862236,
+                    -0.6421646634920288
+                ]
+            ],
+            "translation_vector": [
+                0.659338717943477,
+                0.2682295632872987,
+                0.4329281716984913
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536464099098978,
+                    -0.2033663010539174,
+                    0.2218122459685463
+                ],
+                [
+                    -0.3005999797095973,
+                    0.6092817049650208,
+                    -0.7337679852606731
+                ],
+                [
+                    0.014077537588411992,
+                    -0.7664319614881449,
+                    -0.642171216534097
+                ]
+            ],
+            "translation_vector": [
+                0.6593735476118787,
+                0.26825565996806194,
+                0.4329612617676669
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536445661473035,
+                    -0.20343422237863254,
+                    0.2217578828878981
+                ],
+                [
+                    -0.3006021282392832,
+                    0.6092918914786927,
+                    -0.7337586466109488
+                ],
+                [
+                    0.014156339771818292,
+                    -0.7664058377540706,
+                    -0.6422006617099882
+                ]
+            ],
+            "translation_vector": [
+                0.6593621846136573,
+                0.2682499147348193,
+                0.43292924740149624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536487588198554,
+                    -0.20344467304905767,
+                    0.22173026362973366
+                ],
+                [
+                    -0.3005870839516568,
+                    0.6092631965931214,
+                    -0.7337886359426475
+                ],
+                [
+                    0.014193299925978958,
+                    -0.7664258752711144,
+                    -0.6421759322429623
+                ]
+            ],
+            "translation_vector": [
+                0.65936025316845,
+                0.2682418782314411,
+                0.43292689941352314
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536412114289262,
+                    -0.2034230187608383,
+                    0.2217825856612686
+                ],
+                [
+                    -0.30061315393465043,
+                    0.6092508092639043,
+                    -0.733788241315395
+                ],
+                [
+                    0.014148199384814975,
+                    -0.7664414699437302,
+                    -0.6421583150630864
+                ]
+            ],
+            "translation_vector": [
+                0.6593679248469742,
+                0.2682515109018284,
+                0.43294731174676604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536544312238466,
+                    -0.20341431713190003,
+                    0.2217337173117459
+                ],
+                [
+                    -0.30056983091491923,
+                    0.6092448198512537,
+                    -0.7338109608258733
+                ],
+                [
+                    0.014177536841754969,
+                    -0.7664485403927503,
+                    -0.6421492290573309
+                ]
+            ],
+            "translation_vector": [
+                0.6593535924465085,
+                0.2682435563230722,
+                0.4329365194802325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536533823991576,
+                    -0.20337903772648777,
+                    0.22177058698595234
+                ],
+                [
+                    -0.3005756641369191,
+                    0.6092560364776204,
+                    -0.7337992587514864
+                ],
+                [
+                    0.01412431829491056,
+                    -0.7664489865796867,
+                    -0.6421498692701539
+                ]
+            ],
+            "translation_vector": [
+                0.659359466328218,
+                0.26823890197294076,
+                0.43294644592064174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953652084632608,
+                    -0.2034198344050502,
+                    0.22173874818466746
+                ],
+                [
+                    -0.300577621379942,
+                    0.6092644188951614,
+                    -0.7337914972210554
+                ],
+                [
+                    0.014170215293268966,
+                    -0.7664314965076552,
+                    -0.6421697331388166
+                ]
+            ],
+            "translation_vector": [
+                0.6593563593351176,
+                0.2682486223447177,
+                0.4329390641748232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536433019886468,
+                    -0.20344313123633725,
+                    0.2217551463324931
+                ],
+                [
+                    -0.30060563824379155,
+                    0.6092849523642461,
+                    -0.7337629706373453
+                ],
+                [
+                    0.014166962562018553,
+                    -0.7664089894927208,
+                    -0.6421966661362496
+                ]
+            ],
+            "translation_vector": [
+                0.6593614925573725,
+                0.26824855370252076,
+                0.4329200985783462
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536544207252544,
+                    -0.20341509899900706,
+                    0.22173304519264625
+                ],
+                [
+                    -0.3005699878421199,
+                    0.609254013258626,
+                    -0.7338032636455405
+                ],
+                [
+                    0.014174915864575916,
+                    -0.7664410250159388,
+                    -0.6421582569217265
+                ]
+            ],
+            "translation_vector": [
+                0.6593568050688217,
+                0.268243393339065,
+                0.432938167407375
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536458343106591,
+                    -0.20341540957387277,
+                    0.22176968649890133
+                ],
+                [
+                    -0.3005976627894092,
+                    0.609215069932515,
+                    -0.7338242594059331
+                ],
+                [
+                    0.014165727212961434,
+                    -0.7664718975376822,
+                    -0.6421216103336762
+                ]
+            ],
+            "translation_vector": [
+                0.6593684095159914,
+                0.2682377777374299,
+                0.43294353302371813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.95365322134225,
+                    -0.20341584057858164,
+                    0.2217375232685231
+                ],
+                [
+                    -0.3005736586670195,
+                    0.609240334420868,
+                    -0.7338131169652605
+                ],
+                [
+                    0.014177769185307443,
+                    -0.7664517014897013,
+                    -0.6421454509256219
+                ]
+            ],
+            "translation_vector": [
+                0.659357729090634,
+                0.26824392489385085,
+                0.43294224304634826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536484107530744,
+                    -0.20343100865038136,
+                    0.22174429730575795
+                ],
+                [
+                    -0.30058863083074294,
+                    0.6092393147430314,
+                    -0.7338078306932555
+                ],
+                [
+                    0.014183923414742113,
+                    -0.7664484862604471,
+                    -0.642149152631719
+                ]
+            ],
+            "translation_vector": [
+                0.6593607283220702,
+                0.26824816156989717,
+                0.4329397147622038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536491638127157,
+                    -0.2034215183108192,
+                    0.2217497649320735
+                ],
+                [
+                    -0.3005866086609655,
+                    0.6092333064596289,
+                    -0.7338136473206044
+                ],
+                [
+                    0.014176143798944735,
+                    -0.7664557809739514,
+                    -0.6421406175897945
+                ]
+            ],
+            "translation_vector": [
+                0.6593653714494837,
+                0.2682353098631318,
+                0.4329347255227648
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536522909413543,
+                    -0.20340824859260795,
+                    0.22174848902933877
+                ],
+                [
+                    -0.3005773707388561,
+                    0.609249456315272,
+                    -0.7338040230056402
+                ],
+                [
+                    0.014161644749929312,
+                    -0.7664464654390637,
+                    -0.6421520563183954
+                ]
+            ],
+            "translation_vector": [
+                0.6593589191403276,
+                0.268245329348065,
+                0.43294297554327915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953652084632608,
+                    -0.2034198344050502,
+                    0.22173874818466746
+                ],
+                [
+                    -0.300577621379942,
+                    0.6092644188951614,
+                    -0.7337914972210554
+                ],
+                [
+                    0.014170215293268966,
+                    -0.7664314965076552,
+                    -0.6421697331388166
+                ]
+            ],
+            "translation_vector": [
+                0.6593563593351176,
+                0.2682486223447177,
+                0.4329390641748232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536496102145099,
+                    -0.2034302672065803,
+                    0.2217398189815545
+                ],
+                [
+                    -0.30058496001656176,
+                    0.6092529935622345,
+                    -0.733797977407473
+                ],
+                [
+                    0.01418107011319025,
+                    -0.7664378097534825,
+                    -0.6421619585670967
+                ]
+            ],
+            "translation_vector": [
+                0.6593598042786498,
+                0.26824763001215823,
+                0.4329357154224599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.95365322134225,
+                    -0.20341584057858164,
+                    0.2217375232685231
+                ],
+                [
+                    -0.3005736586670195,
+                    0.609240334420868,
+                    -0.7338131169652605
+                ],
+                [
+                    0.014177769185307443,
+                    -0.7664517014897013,
+                    -0.6421454509256219
+                ]
+            ],
+            "translation_vector": [
+                0.659357729090634,
+                0.26824392489385085,
+                0.43294224304634826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536656809851471,
+                    -0.20335658316847977,
+                    0.2217382894160958
+                ],
+                [
+                    -0.3005364192244239,
+                    0.6092605231404652,
+                    -0.7338116077457266
+                ],
+                [
+                    0.014129035030617175,
+                    -0.7664513781216967,
+                    -0.6421469110292876
+                ]
+            ],
+            "translation_vector": [
+                0.6593526405977849,
+                0.26823460937984844,
+                0.43294911246748624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536460745155303,
+                    -0.2034357439421881,
+                    0.2217500003332773
+                ],
+                [
+                    -0.30059626446272514,
+                    0.6092497203726066,
+                    -0.7337960643237035
+                ],
+                [
+                    0.014179222551867612,
+                    -0.7664389579820365,
+                    -0.642160628920238
+                ]
+            ],
+            "translation_vector": [
+                0.6593602825513072,
+                0.26825339058184133,
+                0.43294053531027815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536627762410081,
+                    -0.20338571068592648,
+                    0.2217240670316912
+                ],
+                [
+                    -0.3005439178706508,
+                    0.6092423591719887,
+                    -0.7338236172415753
+                ],
+                [
+                    0.014165544227199357,
+                    -0.7664580878817386,
+                    -0.6421380979800351
+                ]
+            ],
+            "translation_vector": [
+                0.6593517711818002,
+                0.268235509344091,
+                0.4329472651863851
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536496102145099,
+                    -0.2034302672065803,
+                    0.2217398189815545
+                ],
+                [
+                    -0.30058496001656176,
+                    0.6092529935622345,
+                    -0.733797977407473
+                ],
+                [
+                    0.01418107011319025,
+                    -0.7664378097534825,
+                    -0.6421619585670967
+                ]
+            ],
+            "translation_vector": [
+                0.6593598042786498,
+                0.26824763001215823,
+                0.4329356391285146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.953634031862441,
+                    -0.20345098706950052,
+                    0.22178780204112078
+                ],
+                [
+                    -0.30063549673184436,
+                    0.6092669408477986,
+                    -0.7337656934572254
+                ],
+                [
+                    0.01415737894465819,
+                    -0.76642122272965,
+                    -0.6421822778394046
+                ]
+            ],
+            "translation_vector": [
+                0.6593688420738092,
+                0.2682590556974899,
+                0.43293247301636595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536462809601269,
+                    -0.20342415801639707,
+                    0.22175974104025123
+                ],
+                [
+                    -0.30059601364569516,
+                    0.609234757646677,
+                    -0.7338085899303117
+                ],
+                [
+                    0.014170652463325929,
+                    -0.7664539268674376,
+                    -0.6421429518403585
+                ]
+            ],
+            "translation_vector": [
+                0.6593628423329637,
+                0.26825009761549246,
+                0.4329445229390161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536506367387598,
+                    -0.20343400673995912,
+                    0.22173197322326893
+                ],
+                [
+                    -0.30058129214401,
+                    0.6092507401259197,
+                    -0.7338013508225893
+                ],
+                [
+                    0.014189780153176498,
+                    -0.7664386084728155,
+                    -0.6421608128665741
+                ]
+            ],
+            "translation_vector": [
+                0.6593543182808536,
+                0.2682491537852795,
+                0.43293731651746825
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536498690868024,
+                    -0.20341605424121031,
+                    0.2217517442268756
+                ],
+                [
+                    -0.3005848031497349,
+                    0.6092438005014094,
+                    -0.7338056743212293
+                ],
+                [
+                    0.014166979429636989,
+                    -0.766448889638139,
+                    -0.642149045211705
+                ]
+            ],
+            "translation_vector": [
+                0.6593595567703613,
+                0.26824779303815743,
+                0.43293981449557123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536468822721097,
+                    -0.20340488631350498,
+                    0.2217748321078735
+                ],
+                [
+                    -0.3005961506747368,
+                    0.6092861905423692,
+                    -0.7337658292765475
+                ],
+                [
+                    0.014127212471551031,
+                    -0.7664181562555513,
+                    -0.6421866018764528
+                ]
+            ],
+            "translation_vector": [
+                0.6593605567683893,
+                0.2682552911877139,
+                0.43293807034143406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9536606465185686,
+                    -0.2033788599303473,
+                    0.22173951072196924
+                ],
+                [
+                    -0.3005513008688762,
+                    0.6092378023917147,
+                    -0.7338243765935695
+                ],
+                [
+                    0.014152272885031335,
+                    -0.766463527814825,
+                    -0.6421318974337293
+                ]
+            ],
+            "translation_vector": [
+                0.6593538851770776,
+                0.2682374453490898,
+                0.43295207327664337
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..7befe402b40c6c26c9e02da531be58ada512d267
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 328.35935196786556,
+        "fy": 434.55615234375,
+        "ppx": 317.073122420401,
+        "ppy": 237.33200073242188,
+        "distortion_model": "plumb bob",
+        "k1": -0.05438553914427757,
+        "k2": 0.0625494197010994,
+        "k3": -0.02131124958395958,
+        "p1": -0.001142260618507862,
+        "p2": -3.121867121080868e-05
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/hand_right_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.8696088560736043,
+                0.45067497184348976,
+                0.2016742601132506
+            ],
+            [
+                -0.4936718794329236,
+                0.786798592396619,
+                0.3704538438994309
+            ],
+            [
+                0.00827725168895342,
+                -0.42171085444480644,
+                0.9066925842577014
+            ]
+        ],
+        "translation_vector": [
+            -0.03195120383176782,
+            -0.048675141357826454,
+            0.040251331192684495
+        ]
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..c401b78982d7476072ecbbce548a7bff42389fef
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656729417853936,
+                    -0.25673470771357204,
+                    0.03953554550996387
+                ],
+                [
+                    -0.17088937393652667,
+                    -0.5132613515271272,
+                    0.8410467328895159
+                ],
+                [
+                    -0.19563381962003829,
+                    -0.8189322773488499,
+                    -0.5395158327028973
+                ]
+            ],
+            "translation_vector": [
+                0.6306834313644784,
+                -0.2556999151195648,
+                0.4616346705286742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656729284765173,
+                    -0.25672844962942276,
+                    0.03957648744470144
+                ],
+                [
+                    -0.17092784611117376,
+                    -0.5132881670338633,
+                    0.8410225496422865
+                ],
+                [
+                    -0.19560027257491885,
+                    -0.8189174321834224,
+                    -0.5395505283425526
+                ]
+            ],
+            "translation_vector": [
+                0.6306860880704217,
+                -0.25571255472333115,
+                0.4616404907561261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656597780075907,
+                    -0.2567861871721615,
+                    0.03952274302113072
+                ],
+                [
+                    -0.1709119820549691,
+                    -0.5132790113488355,
+                    0.8410313614240575
+                ],
+                [
+                    -0.1956790421286158,
+                    -0.8189050681161679,
+                    -0.5395407323690043
+                ]
+            ],
+            "translation_vector": [
+                0.6306824051821006,
+                -0.2557087236945618,
+                0.46163047002252156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656631608030026,
+                    -0.2567720788439049,
+                    0.039531751721040176
+                ],
+                [
+                    -0.17091515307433514,
+                    -0.5132933279009516,
+                    0.8410219794880174
+                ],
+                [
+                    -0.19565957762790728,
+                    -0.818900518413895,
+                    -0.5395546966007462
+                ]
+            ],
+            "translation_vector": [
+                0.630684759819941,
+                -0.25570827852545797,
+                0.4616323256129324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656739412841836,
+                    -0.25673544920062535,
+                    0.03950630643864633
+                ],
+                [
+                    -0.17086841998069383,
+                    -0.5132784552842451,
+                    0.8410405521699418
+                ],
+                [
+                    -0.19564718801447753,
+                    -0.8189213249542184,
+                    -0.5395276094485391
+                ]
+            ],
+            "translation_vector": [
+                0.6306789154523569,
+                -0.2556928000788096,
+                0.461634853147236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656690776278591,
+                    -0.2567531214564523,
+                    0.03951034213630967
+                ],
+                [
+                    -0.17087942285988278,
+                    -0.5132673542363466,
+                    0.8410450914893292
+                ],
+                [
+                    -0.1956615837522363,
+                    -0.8189227422031878,
+                    -0.5395202377538564
+                ]
+            ],
+            "translation_vector": [
+                0.6306785796183807,
+                -0.2557029962049242,
+                0.4616334995465585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656682415078977,
+                    -0.25675467114479483,
+                    0.03952070581825813
+                ],
+                [
+                    -0.1708888380616753,
+                    -0.5132652606679262,
+                    0.841044456148078
+                ],
+                [
+                    -0.19565748738286382,
+                    -0.81892356849514,
+                    -0.5395204691151303
+                ]
+            ],
+            "translation_vector": [
+                0.6306852938994829,
+                -0.25569643088338856,
+                0.4616237573829752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656653993877014,
+                    -0.256765252220114,
+                    0.03952140784097764
+                ],
+                [
+                    -0.17089323680485483,
+                    -0.5132557011969696,
+                    0.8410493961731185
+                ],
+                [
+                    -0.19566767244425298,
+                    -0.8189262423693286,
+                    -0.5395127167352965
+                ]
+            ],
+            "translation_vector": [
+                0.6306854153264537,
+                -0.25570026355434083,
+                0.4616344033715694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656666643798165,
+                    -0.2567669830048689,
+                    0.039479231807832575
+                ],
+                [
+                    -0.17086286487018834,
+                    -0.5132781669257093,
+                    0.8410418567263674
+                ],
+                [
+                    -0.19568795239848294,
+                    -0.8189116190383191,
+                    -0.5395275576744232
+                ]
+            ],
+            "translation_vector": [
+                0.6306753555812918,
+                -0.255698371409366,
+                0.46162512758187874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965664568701327,
+                    -0.25676496327756043,
+                    0.039543575811418916
+                ],
+                [
+                    -0.1709097948551069,
+                    -0.5132448882901948,
+                    0.8410526301406892
+                ],
+                [
+                    -0.19565730954264313,
+                    -0.8189331097696922,
+                    -0.5395060508886586
+                ]
+            ],
+            "translation_vector": [
+                0.6306860884733376,
+                -0.25570488857154855,
+                0.4616379290764367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965672691938548,
+                    -0.2567379933931327,
+                    0.039520308609955875
+                ],
+                [
+                    -0.1708794227351836,
+                    -0.5132673541383319,
+                    0.8410450915744807
+                ],
+                [
+                    -0.1956437449290133,
+                    -0.8189274851440169,
+                    -0.5395195076601468
+                ]
+            ],
+            "translation_vector": [
+                0.6306809534603971,
+                -0.25570299615463404,
+                0.4616392945761416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656668501352936,
+                    -0.25676620565656694,
+                    0.03947974395193223
+                ],
+                [
+                    -0.17086286486950594,
+                    -0.513278166922854,
+                    0.8410418567282488
+                ],
+                [
+                    -0.19568703574423488,
+                    -0.8189118627746486,
+                    -0.5395275201957634
+                ]
+            ],
+            "translation_vector": [
+                0.6306752671824567,
+                -0.25569837140969076,
+                0.4616256018955384
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656731672310163,
+                    -0.2567410320136425,
+                    0.03948894238375787
+                ],
+                [
+                    -0.17085529450137663,
+                    -0.5132734082702154,
+                    0.8410462987871268
+                ],
+                [
+                    -0.1956624706755636,
+                    -0.818922738018213,
+                    -0.5395199224550355
+                ]
+            ],
+            "translation_vector": [
+                0.6306777158116786,
+                -0.2556949840119405,
+                0.46162366565884094
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656702791776123,
+                    -0.2567518551470239,
+                    0.039489198416705645
+                ],
+                [
+                    -0.1708628647454853,
+                    -0.513278166827697,
+                    0.8410418568115172
+                ],
+                [
+                    -0.19567011361983289,
+                    -0.8189163622352165,
+                    -0.5395268281554136
+                ]
+            ],
+            "translation_vector": [
+                0.6306777295779639,
+                -0.255698371359075,
+                0.4616309225519064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656619243718304,
+                    -0.25677984460693704,
+                    0.03951150746466788
+                ],
+                [
+                    -0.17089640812805004,
+                    -0.5132700182543735,
+                    0.8410400145356258
+                ],
+                [
+                    -0.19568205208302614,
+                    -0.8189126936156211,
+                    -0.5395280666728872
+                ]
+            ],
+            "translation_vector": [
+                0.6306828452577266,
+                -0.2556998183587339,
+                0.461625617410235
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96567359854359,
+                    -0.25673548974907506,
+                    0.039514419889148764
+                ],
+                [
+                    -0.17087008241032803,
+                    -0.5132557384718792,
+                    0.8410540778468254
+                ],
+                [
+                    -0.19564742782096847,
+                    -0.8189355501069597,
+                    -0.5395059302343677
+                ]
+            ],
+            "translation_vector": [
+                0.6306813148330151,
+                -0.25569878062652995,
+                0.4616381289688136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656746133438064,
+                    -0.2567283839729154,
+                    0.03953578133723561
+                ],
+                [
+                    -0.17089430302549855,
+                    -0.5132963151420775,
+                    0.8410243932580045
+                ],
+                [
+                    -0.1956212624862632,
+                    -0.818912345568328,
+                    -0.5395506389015401
+                ]
+            ],
+            "translation_vector": [
+                0.630675959397482,
+                -0.255711107655964,
+                0.46163562852106277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656767152450959,
+                    -0.2567321022789991,
+                    0.03946022418648465
+                ],
+                [
+                    -0.170825536219529,
+                    -0.5132749879771189,
+                    0.8410513794604934
+                ],
+                [
+                    -0.19567094267865237,
+                    -0.818924547425765,
+                    -0.5395141034437873
+                ]
+            ],
+            "translation_vector": [
+                0.6306690594836378,
+                -0.2556871378719008,
+                0.4616293000215442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656698163534385,
+                    -0.256753890062733,
+                    0.03948728556852818
+                ],
+                [
+                    -0.17086919640833304,
+                    -0.5133067513758832,
+                    0.8410231249559716
+                ],
+                [
+                    -0.1956668686893287,
+                    -0.8188978073786689,
+                    -0.5395561672038618
+                ]
+            ],
+            "translation_vector": [
+                0.630677691094481,
+                -0.25569748259496056,
+                0.46162305695427314
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656732468902731,
+                    -0.2567385025566232,
+                    0.039503437133760894
+                ],
+                [
+                    -0.17087792260265613,
+                    -0.5133213564064247,
+                    0.8410124378533705
+                ],
+                [
+                    -0.19564231599375143,
+                    -0.8188934768100499,
+                    -0.5395716429081036
+                ]
+            ],
+            "translation_vector": [
+                0.6306788578649348,
+                -0.2556914662846066,
+                0.4616230480576521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656788527447586,
+                    -0.25671230097720027,
+                    0.03953666511680207
+                ],
+                [
+                    -0.1708857541676296,
+                    -0.5132959385989804,
+                    0.8410263601340638
+                ],
+                [
+                    -0.19560780246229256,
+                    -0.8189176234181207,
+                    -0.5395475082614039
+                ]
+            ],
+            "translation_vector": [
+                0.6306858946277535,
+                -0.255702107231045,
+                0.4616415238220138
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965662030148036,
+                    -0.25678354671520104,
+                    0.039484853637009085
+                ],
+                [
+                    -0.17088309530750195,
+                    -0.5133025614542429,
+                    0.8410228582759451
+                ],
+                [
+                    -0.1956931559061304,
+                    -0.8188911347309087,
+                    -0.5395567608608233
+                ]
+            ],
+            "translation_vector": [
+                0.6306784466349206,
+                -0.2557009678420564,
+                0.4616156328580711
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656710435417348,
+                    -0.25674468029535363,
+                    0.03951714570985077
+                ],
+                [
+                    -0.17089060990507482,
+                    -0.513309650372041,
+                    0.8410170047515121
+                ],
+                [
+                    -0.19564210975985835,
+                    -0.8188988777468009,
+                    -0.5395635207403682
+                ]
+            ],
+            "translation_vector": [
+                0.630681764182925,
+                -0.2556962726621945,
+                0.46161868653098437
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656662016155857,
+                    -0.2567690175778161,
+                    0.039477318417673206
+                ],
+                [
+                    -0.17086919653303534,
+                    -0.5133067514738922,
+                    0.8410231248708177
+                ],
+                [
+                    -0.19568470745942848,
+                    -0.8188930641441794,
+                    -0.5395568966875269
+                ]
+            ],
+            "translation_vector": [
+                0.6306753169525078,
+                -0.25569748264525277,
+                0.4616172619849576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965667302315145,
+                    -0.25675366813883765,
+                    0.03955015975494994
+                ],
+                [
+                    -0.17091929744587808,
+                    -0.5132877898918558,
+                    0.8410245171863552
+                ],
+                [
+                    -0.19563551569180346,
+                    -0.8189097622114332,
+                    -0.5395493919511135
+                ]
+            ],
+            "translation_vector": [
+                0.630688493266824,
+                -0.25570355441808823,
+                0.4616314448667427
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965676397450549,
+                    -0.2567296524651025,
+                    0.03948393283447255
+                ],
+                [
+                    -0.1708599529398902,
+                    -0.5133384979352209,
+                    0.8410056260328999
+                ],
+                [
+                    -0.19564245931879906,
+                    -0.8188855060890742,
+                    -0.539583687697222
+                ]
+            ],
+            "translation_vector": [
+                0.6306706628568778,
+                -0.2556989247474443,
+                0.461628833178931
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656746120758991,
+                    -0.2567241432957391,
+                    0.03956333961043783
+                ],
+                [
+                    -0.17091860372781184,
+                    -0.5133077576675598,
+                    0.8410124712618935
+                ],
+                [
+                    -0.19560003704446804,
+                    -0.8189065027018473,
+                    -0.5395672018764966
+                ]
+            ],
+            "translation_vector": [
+                0.6306864901429321,
+                -0.2557027608612402,
+                0.46162777243881586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656670620683524,
+                    -0.2567667553736164,
+                    0.03947098391454203
+                ],
+                [
+                    -0.17086302708014423,
+                    -0.5133094530069117,
+                    0.84102272943765
+                ],
+                [
+                    -0.19568584827034993,
+                    -0.8188920800622327,
+                    -0.5395579764937805
+                ]
+            ],
+            "translation_vector": [
+                0.6306755705072709,
+                -0.25569282177289043,
+                0.46161263125560403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656693988155409,
+                    -0.2567556865613062,
+                    0.039485815296946114
+                ],
+                [
+                    -0.17087236760981375,
+                    -0.5133210678420663,
+                    0.8410137426326028
+                ],
+                [
+                    -0.19566616002428458,
+                    -0.8188882699904263,
+                    -0.5395708990424131
+                ]
+            ],
+            "translation_vector": [
+                0.6306777602041203,
+                -0.2556970375557014,
+                0.4616185668112682
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656578790164384,
+                    -0.25679615973349645,
+                    0.039504342034802305
+                ],
+                [
+                    -0.17091322023426114,
+                    -0.5133273089501634,
+                    0.8410016320050389
+                ],
+                [
+                    -0.19568733183992515,
+                    -0.8188716665217527,
+                    -0.5395884190058742
+                ]
+            ],
+            "translation_vector": [
+                0.6306807377657371,
+                -0.25570508173009415,
+                0.4616144096245976
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656679632866181,
+                    -0.25676362001817254,
+                    0.039469331347751754
+                ],
+                [
+                    -0.17086726316664763,
+                    -0.5133407323694306,
+                    0.8410027769682789
+                ],
+                [
+                    -0.1956777019995244,
+                    -0.8188734553797554,
+                    -0.5395891965325151
+                ]
+            ],
+            "translation_vector": [
+                0.6306761314201179,
+                -0.2556942857562392,
+                0.46161046186511545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656576666518617,
+                    -0.25680102514523734,
+                    0.039477896611107316
+                ],
+                [
+                    -0.17089146563767946,
+                    -0.5133209695198038,
+                    0.8410099221908472
+                ],
+                [
+                    -0.1957073780129096,
+                    -0.8188741147060421,
+                    -0.5395774332342933
+                ]
+            ],
+            "translation_vector": [
+                0.6306788968142415,
+                -0.2556915167254151,
+                0.46160020593264683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965657649906879,
+                    -0.2567790687806149,
+                    0.039620865872472245
+                ],
+                [
+                    -0.17099844674954745,
+                    -0.51330032400319,
+                    0.8410007779945644
+                ],
+                [
+                    -0.19561399332758997,
+                    -0.8188939413711526,
+                    -0.5395812064926402
+                ]
+            ],
+            "translation_vector": [
+                0.6306980085519269,
+                -0.25571732542578995,
+                0.46162609707729824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656637453501801,
+                    -0.25677886629750657,
+                    0.039473342134030254
+                ],
+                [
+                    -0.17088013440455566,
+                    -0.5133433633616881,
+                    0.8409985558598725
+                ],
+                [
+                    -0.19568727751732853,
+                    -0.8188670252949973,
+                    -0.5395954820996732
+                ]
+            ],
+            "translation_vector": [
+                0.6306825174823104,
+                -0.25568406782794895,
+                0.4615975625636465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656510950445499,
+                    -0.2568062450974258,
+                    0.03960448356212738
+                ],
+                [
+                    -0.17100141878860728,
+                    -0.5133072058033804,
+                    0.8409959733807348
+                ],
+                [
+                    -0.19564375127139977,
+                    -0.8188811055026775,
+                    -0.539589897643727
+                ]
+            ],
+            "translation_vector": [
+                0.6306967610633273,
+                -0.2557106577385324,
+                0.4616140843725171
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656341693984474,
+                    -0.25687781141729205,
+                    0.039553013685849445
+                ],
+                [
+                    -0.17100976975297053,
+                    -0.5133578526631453,
+                    0.8409633605325029
+                ],
+                [
+                    -0.19571997736359678,
+                    -0.8188269079057837,
+                    -0.5396444990456649
+                ]
+            ],
+            "translation_vector": [
+                0.6306955149589683,
+                -0.2557023241663363,
+                0.46156968132603765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656188483571773,
+                    -0.2569248688661988,
+                    0.03962135100479394
+                ],
+                [
+                    -0.17107948731961178,
+                    -0.5132875420530544,
+                    0.8409920975797528
+                ],
+                [
+                    -0.19573463851811548,
+                    -0.8188562211592584,
+                    -0.5395947000786444
+                ]
+            ],
+            "translation_vector": [
+                0.6307142380944779,
+                -0.2557092161066494,
+                0.46158599961503355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656326311755985,
+                    -0.25685575488255413,
+                    0.03973339643931534
+                ],
+                [
+                    -0.17113338488758278,
+                    -0.5132707107246477,
+                    0.8409914042896832
+                ],
+                [
+                    -0.1956194933686542,
+                    -0.8188884531460486,
+                    -0.5395875416633178
+                ]
+            ],
+            "translation_vector": [
+                0.6307208594945708,
+                -0.2557201751216648,
+                0.46161061622725097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655415830302715,
+                    -0.2571950501566793,
+                    0.03975119638829222
+                ],
+                [
+                    -0.17134925522362413,
+                    -0.5132942274131499,
+                    0.8409330941511619
+                ],
+                [
+                    -0.1958797696897427,
+                    -0.8187672088446392,
+                    -0.5396771011883427
+                ]
+            ],
+            "translation_vector": [
+                0.6307562754386559,
+                -0.2557564654555598,
+                0.46151917168311224
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655393233212194,
+                    -0.2571957777445891,
+                    0.03980134458479854
+                ],
+                [
+                    -0.17137120964440744,
+                    -0.5132016743240976,
+                    0.8409851068692927
+                ],
+                [
+                    -0.195871701951595,
+                    -0.818824995576771,
+                    -0.5395923489017304
+                ]
+            ],
+            "translation_vector": [
+                0.6307642799341436,
+                -0.25574665335901414,
+                0.4615276916196914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655616682304564,
+                    -0.2571205333284671,
+                    0.039745391995832415
+                ],
+                [
+                    -0.17127176220357812,
+                    -0.5131702071400335,
+                    0.8410245668085657
+                ],
+                [
+                    -0.19584853411679823,
+                    -0.8188683470770741,
+                    -0.5395349681341901
+                ]
+            ],
+            "translation_vector": [
+                0.6307400167445797,
+                -0.25574288225508285,
+                0.46155671660751657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655265534629174,
+                    -0.25729886967611776,
+                    0.039443202474098764
+                ],
+                [
+                    -0.1711819966863847,
+                    -0.5134670303813973,
+                    0.8408616608704265
+                ],
+                [
+                    -0.1960999708528361,
+                    -0.8186262275145487,
+                    -0.5398109864172973
+                ]
+            ],
+            "translation_vector": [
+                0.6306958489375962,
+                -0.25576066846117207,
+                0.4614433270671922
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655246445663564,
+                    -0.2572416434228629,
+                    0.03986097871498157
+                ],
+                [
+                    -0.1714412959299008,
+                    -0.5131674741177968,
+                    0.8409916917291377
+                ],
+                [
+                    -0.1958827271223466,
+                    -0.8188320220879649,
+                    -0.5395776837661538
+                ]
+            ],
+            "translation_vector": [
+                0.6307647138802714,
+                -0.25576524449285376,
+                0.4615287912253234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655255007200229,
+                    -0.2572488576268361,
+                    0.0397936264876306
+                ],
+                [
+                    -0.171402642268047,
+                    -0.5132338047501019,
+                    0.8409590928726951
+                ],
+                [
+                    -0.1959123316253501,
+                    -0.8187881819563728,
+                    -0.5396334602354609
+                ]
+            ],
+            "translation_vector": [
+                0.6307581893811215,
+                -0.25576677694944183,
+                0.4615193205969614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655113868553216,
+                    -0.25730923439944425,
+                    0.039745688388631205
+                ],
+                [
+                    -0.17141507215299967,
+                    -0.5133153723418726,
+                    0.8409067734037509
+                ],
+                [
+                    -0.19597100523163166,
+                    -0.8187180750479968,
+                    -0.5397185180241708
+                ]
+            ],
+            "translation_vector": [
+                0.6307469301944064,
+                -0.25578574498362044,
+                0.4614923792429909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655231006121271,
+                    -0.2572613401936053,
+                    0.03977115821967748
+                ],
+                [
+                    -0.17139081041916032,
+                    -0.5132361962960197,
+                    0.8409600447794514
+                ],
+                [
+                    -0.19593451020228153,
+                    -0.8187827609649483,
+                    -0.5396336331794086
+                ]
+            ],
+            "translation_vector": [
+                0.6307570545311664,
+                -0.2557676634612305,
+                0.4615117343708475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655018501116687,
+                    -0.25733724508122113,
+                    0.039795976240728295
+                ],
+                [
+                    -0.17144779973495852,
+                    -0.5132019348349285,
+                    0.8409693371626147
+                ],
+                [
+                    -0.1959893604178212,
+                    -0.8187803834824656,
+                    -0.5396173220230425
+                ]
+            ],
+            "translation_vector": [
+                0.6307629512770683,
+                -0.25578797094802835,
+                0.4615189123659332
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654930041639171,
+                    -0.2573629240762783,
+                    0.03984450051691234
+                ],
+                [
+                    -0.1715103942154992,
+                    -0.5132252800833234,
+                    0.8409423265357967
+                ],
+                [
+                    -0.1959781711991886,
+                    -0.8187576791666153,
+                    -0.5396558340452917
+                ]
+            ],
+            "translation_vector": [
+                0.6307717879730989,
+                -0.2557971249659769,
+                0.46151003414514213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655456970704763,
+                    -0.2572015035532393,
+                    0.03960925950634501
+                ],
+                [
+                    -0.17123458295279684,
+                    -0.5133161365840503,
+                    0.840943078646472
+                ],
+                [
+                    -0.1959597521678105,
+                    -0.8187514461009383,
+                    -0.5396719791113419
+                ]
+            ],
+            "translation_vector": [
+                0.6307147935835139,
+                -0.2557525098650371,
+                0.46149940148575735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655069228116233,
+                    -0.25730781718617135,
+                    0.039863131057637856
+                ],
+                [
+                    -0.17148479342036754,
+                    -0.5131826859006247,
+                    0.8409735409139785
+                ],
+                [
+                    -0.19593199745933387,
+                    -0.8188016964483581,
+                    -0.539605813779732
+                ]
+            ],
+            "translation_vector": [
+                0.6307669780284049,
+                -0.25579869381332093,
+                0.46153299682603116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965518396414954,
+                    -0.2572848940017422,
+                    0.039732977522560914
+                ],
+                [
+                    -0.1713804006118944,
+                    -0.5132751534242532,
+                    0.8409383896358971
+                ],
+                [
+                    -0.1959667943055727,
+                    -0.8187509390503448,
+                    -0.5396701912592318
+                ]
+            ],
+            "translation_vector": [
+                0.6307409634162783,
+                -0.25578794182004805,
+                0.4615088391210685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655249464760424,
+                    -0.2572646782657492,
+                    0.03970469807536805
+                ],
+                [
+                    -0.1713374931018532,
+                    -0.5132472801310234,
+                    0.8409641448335827
+                ],
+                [
+                    -0.1959720418580365,
+                    -0.8187747643613152,
+                    -0.5396321377151889
+                ]
+            ],
+            "translation_vector": [
+                0.6307390261660872,
+                -0.2557640505768115,
+                0.4615090271592852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654980676794027,
+                    -0.25734456637186715,
+                    0.03984037482523417
+                ],
+                [
+                    -0.17148699852328597,
+                    -0.5131865770251685,
+                    0.8409707167902253
+                ],
+                [
+                    -0.1959736988598572,
+                    -0.8187877083347469,
+                    -0.5396118957501951
+                ]
+            ],
+            "translation_vector": [
+                0.6307686342342161,
+                -0.2557949706403391,
+                0.46152394406781727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655276159361271,
+                    -0.2572386468937162,
+                    0.039808308290971504
+                ],
+                [
+                    -0.17140732289940389,
+                    -0.513224418409026,
+                    0.8409638672411418
+                ],
+                [
+                    -0.1958978114251369,
+                    -0.8187972733790748,
+                    -0.5396249369569891
+                ]
+            ],
+            "translation_vector": [
+                0.6307509522515667,
+                -0.25578285818099816,
+                0.46152169516116814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655162886430079,
+                    -0.25729176371690016,
+                    0.0397397117312031
+                ],
+                [
+                    -0.1713830199511968,
+                    -0.5132451148243018,
+                    0.8409561894542409
+                ],
+                [
+                    -0.19597488828275916,
+                    -0.8187676107617085,
+                    -0.5396419579036863
+                ]
+            ],
+            "translation_vector": [
+                0.6307468170517047,
+                -0.2557775885662896,
+                0.4615094478984666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655124165039122,
+                    -0.25729816644801856,
+                    0.03979229974836338
+                ],
+                [
+                    -0.17142517883020847,
+                    -0.5132145279072912,
+                    0.8409662635373236
+                ],
+                [
+                    -0.19595709132309286,
+                    -0.8187847714066158,
+                    -0.5396223832207195
+                ]
+            ],
+            "translation_vector": [
+                0.6307536215504249,
+                -0.2557867186374891,
+                0.46151438356235464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655218091534026,
+                    -0.25726308445354285,
+                    0.039791222984346696
+                ],
+                [
+                    -0.17139548539433921,
+                    -0.5131785153834743,
+                    0.8409942918565217
+                ],
+                [
+                    -0.19593678479443197,
+                    -0.8188183661388299,
+                    -0.5395787798256689
+                ]
+            ],
+            "translation_vector": [
+                0.6307531631087426,
+                -0.25577986496159005,
+                0.4615290721921517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655130974725066,
+                    -0.257296673412916,
+                    0.03978543024391009
+                ],
+                [
+                    -0.1714189759717062,
+                    -0.5132171919148862,
+                    0.8409659021623948
+                ],
+                [
+                    -0.19595916229117083,
+                    -0.8187835707765796,
+                    -0.5396234529192522
+                ]
+            ],
+            "translation_vector": [
+                0.6307539633209469,
+                -0.25578204237151897,
+                0.46150935095570295
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655204335798038,
+                    -0.25726763225456506,
+                    0.03979519737352933
+                ],
+                [
+                    -0.17141118581694567,
+                    -0.5132187517080338,
+                    0.8409665381405355
+                ],
+                [
+                    -0.1959298285527162,
+                    -0.8187917185031721,
+                    -0.5396217415874992
+                ]
+            ],
+            "translation_vector": [
+                0.6307527593545592,
+                -0.25578320766493734,
+                0.4615223762359018
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655177903795067,
+                    -0.2572802817828303,
+                    0.03977754475106237
+                ],
+                [
+                    -0.17140118290983258,
+                    -0.5132108597579716,
+                    0.8409733931127631
+                ],
+                [
+                    -0.1959516036111606,
+                    -0.818792690509772,
+                    -0.5396123599492357
+                ]
+            ],
+            "translation_vector": [
+                0.6307589496855198,
+                -0.25577803565191776,
+                0.4615215847446643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655257428068497,
+                    -0.2572506896956435,
+                    0.039775905123541296
+                ],
+                [
+                    -0.17137572793713876,
+                    -0.5131814370262991,
+                    0.8409965354064417
+                ],
+                [
+                    -0.19593468261463332,
+                    -0.818820429241197,
+                    -0.539576412388426
+                ]
+            ],
+            "translation_vector": [
+                0.6307475348378471,
+                -0.2557777180535312,
+                0.46153755217749537
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655114082128996,
+                    -0.25730684631008877,
+                    0.03976062691533753
+                ],
+                [
+                    -0.17139485437042604,
+                    -0.5131822761502693,
+                    0.8409921256115123
+                ],
+                [
+                    -0.1959885825911415,
+                    -0.8188022583549618,
+                    -0.5395844115675787
+                ]
+            ],
+            "translation_vector": [
+                0.6307540792594002,
+                -0.25577892425977133,
+                0.4615189185016953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655316631148226,
+                    -0.25721965454189677,
+                    0.03983286130912808
+                ],
+                [
+                    -0.17138158251365412,
+                    -0.5130729932268029,
+                    0.8410615059532836
+                ],
+                [
+                    -0.19590038462912857,
+                    -0.8188981334321364,
+                    -0.5394709318985808
+                ]
+            ],
+            "translation_vector": [
+                0.6307597387428425,
+                -0.2557852886007279,
+                0.4615719594498875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655178863288151,
+                    -0.2572716431137811,
+                    0.03983105357221982
+                ],
+                [
+                    -0.17141509484061948,
+                    -0.5130949450514627,
+                    0.8410412847318604
+                ],
+                [
+                    -0.19593896100551095,
+                    -0.8188680473752608,
+                    -0.5395025899362385
+                ]
+            ],
+            "translation_vector": [
+                0.6307563066454148,
+                -0.25579684487450777,
+                0.4615627286438717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655179346973417,
+                    -0.2572746517399683,
+                    0.03981044272371174
+                ],
+                [
+                    -0.1713966848877487,
+                    -0.5130858228901852,
+                    0.8410506017824323
+                ],
+                [
+                    -0.19595482690474775,
+                    -0.8188728179156881,
+                    -0.5394895864532983
+                ]
+            ],
+            "translation_vector": [
+                0.6307562715902251,
+                -0.25579072101027917,
+                0.46155527234366056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655327945904857,
+                    -0.2572134729931025,
+                    0.03984534955441513
+                ],
+                [
+                    -0.17138649968082514,
+                    -0.5130629021893852,
+                    0.8410666597387868
+                ],
+                [
+                    -0.19589050588898274,
+                    -0.818906397403166,
+                    -0.5394619745586584
+                ]
+            ],
+            "translation_vector": [
+                0.6307592391877744,
+                -0.2557912611160127,
+                0.4615740132601879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655359213247964,
+                    -0.2572047360660313,
+                    0.03982597615476815
+                ],
+                [
+                    -0.17136530021518948,
+                    -0.5130657870592457,
+                    0.8410692195244307
+                ],
+                [
+                    -0.19589364081979524,
+                    -0.8189073341315732,
+                    -0.5394594142212045
+                ]
+            ],
+            "translation_vector": [
+                0.6307553303390713,
+                -0.2557818296240943,
+                0.4615802494435064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965529035239048,
+                    -0.2572372454045811,
+                    0.03978293210682779
+                ],
+                [
+                    -0.17134657994006855,
+                    -0.5130662886609896,
+                    0.8410727275227033
+                ],
+                [
+                    -0.19594395028475572,
+                    -0.8188968085273636,
+                    -0.5394571209378032
+                ]
+            ],
+            "translation_vector": [
+                0.6307481401085081,
+                -0.2557788932598,
+                0.46155645620317776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655230440109531,
+                    -0.2572505912094623,
+                    0.03984199801974594
+                ],
+                [
+                    -0.1714091010967695,
+                    -0.5130805434756901,
+                    0.8410512921147486
+                ],
+                [
+                    -0.19591878813687258,
+                    -0.8188836847984413,
+                    -0.5394861807552689
+                ]
+            ],
+            "translation_vector": [
+                0.630760674203346,
+                -0.2558000717881269,
+                0.46157505980262575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655209787081653,
+                    -0.25725896852738017,
+                    0.039837956607423106
+                ],
+                [
+                    -0.17139997302696364,
+                    -0.513037013340689,
+                    0.8410797062043656
+                ],
+                [
+                    -0.19593695139197878,
+                    -0.8189083257939768,
+                    -0.5394421795007536
+                ]
+            ],
+            "translation_vector": [
+                0.6307592862575816,
+                -0.25578619573757055,
+                0.4615650625763381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655132745702721,
+                    -0.25729433800630935,
+                    0.03979623422493083
+                ],
+                [
+                    -0.17139378906047656,
+                    -0.5130782317939027,
+                    0.8410558228386126
+                ],
+                [
+                    -0.19598031967542917,
+                    -0.8188713889794524,
+                    -0.5394824951847642
+                ]
+            ],
+            "translation_vector": [
+                0.6307568690821745,
+                -0.25578726811664004,
+                0.4615506913191726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655240045102615,
+                    -0.2572538997939908,
+                    0.039797333519372965
+                ],
+                [
+                    -0.17136359634693873,
+                    -0.5130450345983673,
+                    0.8410822256598959
+                ],
+                [
+                    -0.19595385824604813,
+                    -0.8189048928384444,
+                    -0.5394412497424943
+                ]
+            ],
+            "translation_vector": [
+                0.6307511460142087,
+                -0.25578752774016383,
+                0.4615627707444365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655285189973296,
+                    -0.25723068912871333,
+                    0.03983781586873042
+                ],
+                [
+                    -0.17138298578290778,
+                    -0.5130343498279012,
+                    0.841084792444138
+                ],
+                [
+                    -0.19591465281330875,
+                    -0.8189188778304175,
+                    -0.539434259521965
+                ]
+            ],
+            "translation_vector": [
+                0.6307548449536524,
+                -0.25578937123766277,
+                0.4615738983186444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965528333025788,
+                    -0.25723146648367395,
+                    0.03983730381315781
+                ],
+                [
+                    -0.17138298578359082,
+                    -0.5130343498307568,
+                    0.8410847924422569
+                ],
+                [
+                    -0.19591556933624446,
+                    -0.8189186336531802,
+                    -0.5394342973405233
+                ]
+            ],
+            "translation_vector": [
+                0.6307549333034084,
+                -0.25578937123733814,
+                0.46157342392944634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655227946509569,
+                    -0.25725720836905136,
+                    0.03980529803391004
+                ],
+                [
+                    -0.1713763633078911,
+                    -0.5130614601060698,
+                    0.841069604880113
+                ],
+                [
+                    -0.19594865426628383,
+                    -0.8188935626172612,
+                    -0.5394603395943415
+                ]
+            ],
+            "translation_vector": [
+                0.6307530741900537,
+                -0.2557880997331335,
+                0.4615652575641729
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655181006711772,
+                    -0.2572739876480938,
+                    0.039810709061401314
+                ],
+                [
+                    -0.17137939562520169,
+                    -0.5130141966680865,
+                    0.8410978164114674
+                ],
+                [
+                    -0.19596913030236074,
+                    -0.8189179014386281,
+                    -0.5394159532975363
+                ]
+            ],
+            "translation_vector": [
+                0.6307581831247958,
+                -0.2557856649652613,
+                0.4615723271609109
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655301028754069,
+                    -0.25722656208972855,
+                    0.039826074334604555
+                ],
+                [
+                    -0.17137001264152432,
+                    -0.5130327749411808,
+                    0.8410883964265561
+                ],
+                [
+                    -0.19591819519546988,
+                    -0.8189211607912271,
+                    -0.5394295071644664
+                ]
+            ],
+            "translation_vector": [
+                0.6307580251997033,
+                -0.2557889926165174,
+                0.46158375754443004
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965522423565611,
+                    -0.2572604899140077,
+                    0.03979308886218176
+                ],
+                [
+                    -0.17135791950577994,
+                    -0.5130209605042939,
+                    0.8410980665213196
+                ],
+                [
+                    -0.19596661198949017,
+                    -0.8189179045621462,
+                    -0.5394168634487657
+                ]
+            ],
+            "translation_vector": [
+                0.6307528526333622,
+                -0.25578755018101157,
+                0.4615702518061195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655244630501125,
+                    -0.2572482438154938,
+                    0.03982276115032949
+                ],
+                [
+                    -0.17137827590979565,
+                    -0.5130273756145279,
+                    0.8410900061326707
+                ],
+                [
+                    -0.19593876032571458,
+                    -0.8189177326959739,
+                    -0.5394272418761475
+                ]
+            ],
+            "translation_vector": [
+                0.6307547247333848,
+                -0.25579130204811573,
+                0.4615773296067081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965515199107016,
+                    -0.2572932597104517,
+                    0.039756493820622706
+                ],
+                [
+                    -0.17135708887510495,
+                    -0.5130721174652794,
+                    0.8410670308435255
+                ],
+                [
+                    -0.19600292953317955,
+                    -0.8188755587922163,
+                    -0.5394679516219167
+                ]
+            ],
+            "translation_vector": [
+                0.6307467603815728,
+                -0.25578626133483073,
+                0.46154983324373045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655206120778855,
+                    -0.2572517926043894,
+                    0.03989314295180847
+                ],
+                [
+                    -0.17143562518107763,
+                    -0.5130023030643885,
+                    0.8410936115970721
+                ],
+                [
+                    -0.19590756512069218,
+                    -0.8189323245863858,
+                    -0.5394164195461797
+                ]
+            ],
+            "translation_vector": [
+                0.6307672906000393,
+                -0.2557970872514887,
+                0.4615798209392061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655166133050528,
+                    -0.2572763970755278,
+                    0.03983120560285291
+                ],
+                [
+                    -0.1713976748152836,
+                    -0.5130101905690405,
+                    0.8410965351493437
+                ],
+                [
+                    -0.19596047177901904,
+                    -0.8189196541054271,
+                    -0.5394164380327987
+                ]
+            ],
+            "translation_vector": [
+                0.6307601761762298,
+                -0.25579367602817477,
+                0.4615748857576099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655192342698026,
+                    -0.2572690180080269,
+                    0.039815331572648154
+                ],
+                [
+                    -0.17138400580789245,
+                    -0.5130285513512014,
+                    0.841088121454422
+                ],
+                [
+                    -0.19595951318651159,
+                    -0.81891046999759,
+                    -0.5394307289356364
+                ]
+            ],
+            "translation_vector": [
+                0.6307561773759104,
+                -0.25579250367333317,
+                0.46157190218690863
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655306030061341,
+                    -0.2572199334354103,
+                    0.039856749768323964
+                ],
+                [
+                    -0.17138175207749723,
+                    -0.512986043607901,
+                    0.8411145071382139
+                ],
+                [
+                    -0.1959054611629266,
+                    -0.8189525168817765,
+                    -0.5393865268798852
+                ]
+            ],
+            "translation_vector": [
+                0.6307564273269245,
+                -0.25579301683315375,
+                0.4615903571461295
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655223169029423,
+                    -0.2572641890508642,
+                    0.039771756239519035
+                ],
+                [
+                    -0.17134408579218102,
+                    -0.5130319386587512,
+                    0.8410941886495742
+                ],
+                [
+                    -0.19597923315090351,
+                    -0.818909864971747,
+                    -0.5394244833389926
+                ]
+            ],
+            "translation_vector": [
+                0.6307499886197143,
+                -0.2557801356993424,
+                0.46156502927765336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655259078112968,
+                    -0.25724759393996344,
+                    0.039791918240656324
+                ],
+                [
+                    -0.1713532993008593,
+                    -0.513036838438992,
+                    0.8410893229754102
+                ],
+                [
+                    -0.1959534846944079,
+                    -0.8189120085922683,
+                    -0.5394305831332659
+                ]
+            ],
+            "translation_vector": [
+                0.6307492513455473,
+                -0.25578826975165947,
+                0.4615735412954069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655184669521254,
+                    -0.25726665743303523,
+                    0.03984917750281783
+                ],
+                [
+                    -0.17139959805495808,
+                    -0.5129761537007594,
+                    0.8411169024107017
+                ],
+                [
+                    -0.19594965619009547,
+                    -0.8189440351499048,
+                    -0.5393833511811198
+                ]
+            ],
+            "translation_vector": [
+                0.6307617381264952,
+                -0.25579687734198886,
+                0.46158734247611977
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655370255172638,
+                    -0.25720822249260394,
+                    0.039776659455891046
+                ],
+                [
+                    -0.17132622242440276,
+                    -0.5130736494461331,
+                    0.8410723843723621
+                ],
+                [
+                    -0.19592237714222138,
+                    -0.818901313056843,
+                    -0.5394581184936598
+                ]
+            ],
+            "translation_vector": [
+                0.6307466570069619,
+                -0.2557859309352964,
+                0.4615759219169981
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655436287123583,
+                    -0.25716321097393363,
+                    0.039907192015326366
+                ],
+                [
+                    -0.17138341388676412,
+                    -0.5129453288214599,
+                    0.8411389986707088
+                ],
+                [
+                    -0.19583979804291604,
+                    -0.8189958318342169,
+                    -0.539344603144121
+                ]
+            ],
+            "translation_vector": [
+                0.6307625839173907,
+                -0.2558001156440526,
+                0.46162042907418294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655298873819412,
+                    -0.25723174898291656,
+                    0.03979778746872885
+                ],
+                [
+                    -0.17134585377358258,
+                    -0.5130223515060146,
+                    0.8410996761679568
+                ],
+                [
+                    -0.19594038625770438,
+                    -0.8189260614795633,
+                    -0.5394140069211706
+                ]
+            ],
+            "translation_vector": [
+                0.6307555156119554,
+                -0.25578421392860534,
+                0.46158292197527284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655279825323695,
+                    -0.25722954745631876,
+                    0.039858184384009614
+                ],
+                [
+                    -0.17138214418041905,
+                    -0.5129594000010148,
+                    0.8411306762963295
+                ],
+                [
+                    -0.19591803286858073,
+                    -0.8189661860333528,
+                    -0.5393612059936174
+                ]
+            ],
+            "translation_vector": [
+                0.6307579361281473,
+                -0.2557977016808086,
+                0.461601894239469
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965532783251903,
+                    -0.257211865107128,
+                    0.039856002232365496
+                ],
+                [
+                    -0.1713720790056042,
+                    -0.5129676804738563,
+                    0.8411276771849614
+                ],
+                [
+                    -0.19590317762387294,
+                    -0.8189665531860165,
+                    -0.5393660443145128
+                ]
+            ],
+            "translation_vector": [
+                0.6307538318169286,
+                -0.2557926776437739,
+                0.46159174438651135
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655287549005883,
+                    -0.25722176798337393,
+                    0.039889667028281166
+                ],
+                [
+                    -0.17141102793425297,
+                    -0.5129841527657361,
+                    0.8411096946972748
+                ],
+                [
+                    -0.19588895569337866,
+                    -0.8189531250851464,
+                    -0.5393915979607303
+                ]
+            ],
+            "translation_vector": [
+                0.6307587308038126,
+                -0.2558093232784476,
+                0.46160088221159223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655253891483582,
+                    -0.2572441708883321,
+                    0.039826617404525685
+                ],
+                [
+                    -0.17136561799107355,
+                    -0.5129701991008955,
+                    0.8411274575264591
+                ],
+                [
+                    -0.19594526756329,
+                    -0.8189548286556241,
+                    -0.5393685574272832
+                ]
+            ],
+            "translation_vector": [
+                0.630754806616503,
+                -0.255793082811162,
+                0.4615929836523252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655229091170416,
+                    -0.2572510115895725,
+                    0.03984255270822151
+                ],
+                [
+                    -0.1713824461682272,
+                    -0.5129661077401424,
+                    0.8411265240469615
+                ],
+                [
+                    -0.19594277000073382,
+                    -0.8189552425780489,
+                    -0.5393688362691796
+                ]
+            ],
+            "translation_vector": [
+                0.6307586081888475,
+                -0.25579381083439756,
+                0.46159299019583533
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655191321556615,
+                    -0.25726628145409264,
+                    0.03983548503736426
+                ],
+                [
+                    -0.17138437237133197,
+                    -0.5129632747780031,
+                    0.8411278592674907
+                ],
+                [
+                    -0.19595969572405206,
+                    -0.8189522203131332,
+                    -0.5393672760706998
+                ]
+            ],
+            "translation_vector": [
+                0.6307596000371154,
+                -0.2557939855699053,
+                0.46159285630885355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655328841470872,
+                    -0.25720102132088185,
+                    0.03992348008507489
+                ],
+                [
+                    -0.17143101423453255,
+                    -0.5129943312097077,
+                    0.8410994135684703
+                ],
+                [
+                    -0.19585110923639823,
+                    -0.8189532653199453,
+                    -0.5394051281112116
+                ]
+            ],
+            "translation_vector": [
+                0.6307674209571753,
+                -0.25580960689930166,
+                0.46160749488756947
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655217241793529,
+                    -0.25725953842561144,
+                    0.039816203068238784
+                ],
+                [
+                    -0.1713687772277005,
+                    -0.5129844691310731,
+                    0.8411181109819201
+                ],
+                [
+                    -0.19596056319885558,
+                    -0.8189410627873978,
+                    -0.5393839016428235
+                ]
+            ],
+            "translation_vector": [
+                0.6307523230645685,
+                -0.25579263832964816,
+                0.4615838120925121
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655314412859336,
+                    -0.25722131925796105,
+                    0.03982748808927963
+                ],
+                [
+                    -0.17135771458464963,
+                    -0.5129887962428313,
+                    0.8411177257564225
+                ],
+                [
+                    -0.19592235589802767,
+                    -0.8189503573773717,
+                    -0.5393836692103698
+                ]
+            ],
+            "translation_vector": [
+                0.630752132122674,
+                -0.2557863682422952,
+                0.4615935181497871
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655300285586559,
+                    -0.2572245477507712,
+                    0.03984088334779068
+                ],
+                [
+                    -0.17136858962790935,
+                    -0.5129777335197585,
+                    0.841122257107653
+                ],
+                [
+                    -0.19591980614644908,
+                    -0.8189562729153143,
+                    -0.5393756136610135
+                ]
+            ],
+            "translation_vector": [
+                0.6307542284871334,
+                -0.2557965340444287,
+                0.46159748740000744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655375627553034,
+                    -0.257187603564508,
+                    0.03989676028569362
+                ],
+                [
+                    -0.1713954429991342,
+                    -0.512975112011389,
+                    0.8411183844002185
+                ],
+                [
+                    -0.19585917652149754,
+                    -0.8189695177658621,
+                    -0.5393775226524298
+                ]
+            ],
+            "translation_vector": [
+                0.6307641682199521,
+                -0.255800418549345,
+                0.4616061736064901
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965524694174315,
+                    -0.2572472273490431,
+                    0.03982372359317316
+                ],
+                [
+                    -0.17137511688174994,
+                    -0.5130131061615962,
+                    0.8410993533585658
+                ],
+                [
+                    -0.19594038443710943,
+                    -0.8189269912071899,
+                    -0.539412596088539
+                ]
+            ],
+            "translation_vector": [
+                0.6307547451775821,
+                -0.2557917463754758,
+                0.4615812554807783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655251580149746,
+                    -0.25724518740432756,
+                    0.039825655016215114
+                ],
+                [
+                    -0.17136877710365386,
+                    -0.5129844690359607,
+                    0.8411181110652008
+                ],
+                [
+                    -0.19594364361763905,
+                    -0.818945570892966,
+                    -0.5393832037064537
+                ]
+            ],
+            "translation_vector": [
+                0.6307547861891268,
+                -0.2557926382790187,
+                0.46158921038924067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655222511449103,
+                    -0.2572597061340902,
+                    0.03980233842208542
+                ],
+                [
+                    -0.171354634192969,
+                    -0.5129754384258907,
+                    0.8411264999465651
+                ],
+                [
+                    -0.19597033419540427,
+                    -0.8189466668663882,
+                    -0.5393718429282109
+                ]
+            ],
+            "translation_vector": [
+                0.6307526606013503,
+                -0.2557935613618962,
+                0.4615866773479409
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965520761192693,
+                    -0.2572605941648087,
+                    0.03983273020836431
+                ],
+                [
+                    -0.17138276995600693,
+                    -0.5129802451556523,
+                    0.8411178361218203
+                ],
+                [
+                    -0.1959530705758119,
+                    -0.8189433770231107,
+                    -0.5393831100079928
+                ]
+            ],
+            "translation_vector": [
+                0.630758024927123,
+                -0.25579614926394956,
+                0.46158693786064237
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655296443150658,
+                    -0.25722574951751753,
+                    0.03984243634585224
+                ],
+                [
+                    -0.17136638619081376,
+                    -0.5129599856892566,
+                    0.8411335296881096
+                ],
+                [
+                    -0.19592362704054564,
+                    -0.8189670120748629,
+                    -0.5393579196604499
+                ]
+            ],
+            "translation_vector": [
+                0.6307563359952181,
+                -0.25579201417492947,
+                0.46159043621538015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655297673473374,
+                    -0.2572235281709964,
+                    0.03985379431698968
+                ],
+                [
+                    -0.171388090589024,
+                    -0.5130146809522365,
+                    0.8410957493244889
+                ],
+                [
+                    -0.19590403459460645,
+                    -0.8189334488728249,
+                    -0.5394159948933805
+                ]
+            ],
+            "translation_vector": [
+                0.630756563046646,
+                -0.25579212491850734,
+                0.4615815297582102
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655370732373731,
+                    -0.2571928833312059,
+                    0.03987456542695727
+                ],
+                [
+                    -0.17138175183163046,
+                    -0.5129860434240215,
+                    0.8411145073004564
+                ],
+                [
+                    -0.19587356979268386,
+                    -0.8189610125127746,
+                    -0.5393852098831798
+                ]
+            ],
+            "translation_vector": [
+                0.630761513262617,
+                -0.2557930167315915,
+                0.46160001635835823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655208978129002,
+                    -0.2572568106991736,
+                    0.039853848439775984
+                ],
+                [
+                    -0.17140119084848623,
+                    -0.5129894174418841,
+                    0.8411084884652855
+                ],
+                [
+                    -0.19593628470064425,
+                    -0.8189388200235267,
+                    -0.5393961266047265
+                ]
+            ],
+            "translation_vector": [
+                0.6307579711455953,
+                -0.25580227109502596,
+                0.46159500778717644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655305127255729,
+                    -0.2572180153356017,
+                    0.039871312778823914
+                ],
+                [
+                    -0.17139915287153998,
+                    -0.5130103531573993,
+                    0.8410961347837945
+                ],
+                [
+                    -0.19589068224601972,
+                    -0.8189378915034613,
+                    -0.5394140992494119
+                ]
+            ],
+            "translation_vector": [
+                0.6307640380002352,
+                -0.2557983948959912,
+                0.4615882281592432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655364020256302,
+                    -0.257196736234439,
+                    0.03986596585752768
+                ],
+                [
+                    -0.17137207888088238,
+                    -0.5129676803758803,
+                    0.8411276772701239
+                ],
+                [
+                    -0.19588534131845037,
+                    -0.8189713046011694,
+                    -0.5393653078354345
+                ]
+            ],
+            "translation_vector": [
+                0.6307562064302846,
+                -0.25579267759347013,
+                0.46159754080622273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965529526048898,
+                    -0.2572244236584011,
+                    0.039853860558223514
+                ],
+                [
+                    -0.17139386126015183,
+                    -0.5130364148043576,
+                    0.8410813167625515
+                ],
+                [
+                    -0.1959001752171925,
+                    -0.8189195521895268,
+                    -0.5394384936131075
+                ]
+            ],
+            "translation_vector": [
+                0.6307590176035239,
+                -0.25580020686940813,
+                0.4615937283277763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655286804438851,
+                    -0.25722488207224503,
+                    0.039871384265034185
+                ],
+                [
+                    -0.17139993453940167,
+                    -0.5129968893381559,
+                    0.8411041873449835
+                ],
+                [
+                    -0.19589902929871603,
+                    -0.8189441687760503,
+                    -0.5394015375835753
+                ]
+            ],
+            "translation_vector": [
+                0.6307594011928633,
+                -0.2557986824894258,
+                0.4615947584438952
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655205120106749,
+                    -0.2572502622125007,
+                    0.03990543168848064
+                ],
+                [
+                    -0.1714356730112773,
+                    -0.5129614230156859,
+                    0.8411185341656032
+                ],
+                [
+                    -0.19590801644091738,
+                    -0.8189584123075618,
+                    -0.539376647626557
+                ]
+            ],
+            "translation_vector": [
+                0.6307692062295486,
+                -0.25579943664225163,
+                0.46159846275110883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655279372646235,
+                    -0.2572297871197081,
+                    0.03985773425410947
+                ],
+                [
+                    -0.17138530329993767,
+                    -0.5129736699822772,
+                    0.8411213299623915
+                ],
+                [
+                    -0.1959154924305629,
+                    -0.8189571725818534,
+                    -0.5393758145323412
+                ]
+            ],
+            "translation_vector": [
+                0.6307578274518405,
+                -0.255797257119787,
+                0.4615983664892409
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655315155995051,
+                    -0.25721742255692087,
+                    0.039850845879323714
+                ],
+                [
+                    -0.17137238018867307,
+                    -0.5129743883867344,
+                    0.8411235249163617
+                ],
+                [
+                    -0.19590916183933835,
+                    -0.8189606061297643,
+                    -0.5393729006123478
+                ]
+            ],
+            "translation_vector": [
+                0.6307567899839643,
+                -0.2557887866365181,
+                0.46158926385997046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655375420290309,
+                    -0.2571918425544715,
+                    0.039869926711416016
+                ],
+                [
+                    -0.17138366731595134,
+                    -0.5130134442937517,
+                    0.8410974049128895
+                ],
+                [
+                    -0.19586958291136738,
+                    -0.8189441752020085,
+                    -0.5394122212119682
+                ]
+            ],
+            "translation_vector": [
+                0.6307570746060283,
+                -0.2558007490491914,
+                0.4616019509078054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655393584112081,
+                    -0.25717965076061433,
+                    0.03990456857956488
+                ],
+                [
+                    -0.17140386024989143,
+                    -0.5130009462223933,
+                    0.841100913010065
+                ],
+                [
+                    -0.19584295762244916,
+                    -0.8189558330029635,
+                    -0.5394041893980005
+                ]
+            ],
+            "translation_vector": [
+                0.6307659078568972,
+                -0.25579716928570817,
+                0.46159834252966186
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655278963857421,
+                    -0.2572325512319739,
+                    0.039840882113902375
+                ],
+                [
+                    -0.1713723803133982,
+                    -0.5129743884847069,
+                    0.8411235248311993
+                ],
+                [
+                    -0.19592699805448943,
+                    -0.8189558543324733,
+                    -0.539373636812113
+                ]
+            ],
+            "translation_vector": [
+                0.6307544152162989,
+                -0.2557887866868232,
+                0.4615833911355346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655186305994723,
+                    -0.25727325046952904,
+                    0.03980261999119017
+                ],
+                [
+                    -0.17138190584714003,
+                    -0.513055900263447,
+                    0.8410718670560005
+                ],
+                [
+                    -0.1959643240835488,
+                    -0.8188920061874503,
+                    -0.5394570102322992
+                ]
+            ],
+            "translation_vector": [
+                0.6307516829754902,
+                -0.25579319700302106,
+                0.4615619127809769
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655378912977893,
+                    -0.2571942666230812,
+                    0.03984582392715946
+                ],
+                [
+                    -0.17137121170413266,
+                    -0.513043336419632,
+                    0.8410817099155528
+                ],
+                [
+                    -0.19587875910183855,
+                    -0.8189246877287485,
+                    -0.5394384743055469
+                ]
+            ],
+            "translation_vector": [
+                0.6307522403938187,
+                -0.25578972485150786,
+                0.461578312009489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655368469065118,
+                    -0.257194900535692,
+                    0.03986703405405268
+                ],
+                [
+                    -0.1713931641832405,
+                    -0.5130563502210557,
+                    0.8410692984345025
+                ],
+                [
+                    -0.1958646995685753,
+                    -0.8189163355534465,
+                    -0.5394562584924071
+                ]
+            ],
+            "translation_vector": [
+                0.630757013591799,
+                -0.25579941318854776,
+                0.46159007006977343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655330484291808,
+                    -0.25719738357504107,
+                    0.03994293771377389
+                ],
+                [
+                    -0.17145220231701533,
+                    -0.51302078259953,
+                    0.841078961181179
+                ],
+                [
+                    -0.19583175103056835,
+                    -0.8189378379969504,
+                    -0.5394355779749631
+                ]
+            ],
+            "translation_vector": [
+                0.6307622272198256,
+                -0.25580252777990964,
+                0.4615951582528553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655298856169977,
+                    -0.25722870423791006,
+                    0.039817504900653236
+                ],
+                [
+                    -0.1713788343719377,
+                    -0.5130957125205967,
+                    0.8410482060633014
+                ],
+                [
+                    -0.19591154919948867,
+                    -0.8188810557761532,
+                    -0.5394928001198804
+                ]
+            ],
+            "translation_vector": [
+                0.6307510493644592,
+                -0.25578686061934447,
+                0.46155766004215826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655124783146408,
+                    -0.25726753196905117,
+                    0.039988388480581824
+                ],
+                [
+                    -0.1715297822814568,
+                    -0.5130113136669481,
+                    0.8410689186031003
+                ],
+                [
+                    -0.19586522919905092,
+                    -0.8189217356037546,
+                    -0.5394478686087634
+                ]
+            ],
+            "translation_vector": [
+                0.6307823477603457,
+                -0.2558169793729714,
+                0.4615877491477363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965541732610947,
+                    -0.25717839079960153,
+                    0.03985521160875329
+                ],
+                [
+                    -0.17137959062919042,
+                    -0.5130822674212063,
+                    0.8410562542266036
+                ],
+                [
+                    -0.1958524916931671,
+                    -0.8189052827791756,
+                    -0.5394774687917343
+                ]
+            ],
+            "translation_vector": [
+                0.6307562276310901,
+                -0.25578713987102286,
+                0.4615854679636101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655226921355081,
+                    -0.25723765700850254,
+                    0.0399339302871219
+                ],
+                [
+                    -0.17147627765593065,
+                    -0.5130576281123407,
+                    0.8410515777507377
+                ],
+                [
+                    -0.19586172972958985,
+                    -0.818902105292516,
+                    -0.5394789382124364
+                ]
+            ],
+            "translation_vector": [
+                0.6307721981859032,
+                -0.2558017963886081,
+                0.46157174368064213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655327031232863,
+                    -0.2572224988706568,
+                    0.03978926078950825
+                ],
+                [
+                    -0.17135830342950562,
+                    -0.513127615510762,
+                    0.8410329256610597
+                ],
+                [
+                    -0.19591562225918088,
+                    -0.8188630143528128,
+                    -0.5395187046616858
+                ]
+            ],
+            "translation_vector": [
+                0.6307419112314824,
+                -0.2557922233970745,
+                0.4615564987352828
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655313550593577,
+                    -0.2572303084075889,
+                    0.03977148267009783
+                ],
+                [
+                    -0.17134608415555452,
+                    -0.513122535730861,
+                    0.841038514438958
+                ],
+                [
+                    -0.19593295241433697,
+                    -0.8188637443199379,
+                    -0.5395113033074777
+                ]
+            ],
+            "translation_vector": [
+                0.6307528518438094,
+                -0.2557720968514277,
+                0.46155855659334183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655225953658702,
+                    -0.2572348902312477,
+                    0.03995408722111137
+                ],
+                [
+                    -0.17149785445254603,
+                    -0.5130810693748427,
+                    0.8410328781726322
+                ],
+                [
+                    -0.19584331430030372,
+                    -0.818888287556298,
+                    -0.5395065975008893
+                ]
+            ],
+            "translation_vector": [
+                0.6307721241289173,
+                -0.2558074745483116,
+                0.4615758118713179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655350766953454,
+                    -0.257204982395165,
+                    0.03984485791186021
+                ],
+                [
+                    -0.17139640734529304,
+                    -0.5131264817359791,
+                    0.8410258529262834
+                ],
+                [
+                    -0.1958705879402005,
+                    -0.8188692269052238,
+                    -0.5395256268312019
+                ]
+            ],
+            "translation_vector": [
+                0.6307521291713512,
+                -0.25579173055038235,
+                0.46155799041122747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655348455307303,
+                    -0.2572059992560731,
+                    0.03984389555043473
+                ],
+                [
+                    -0.17139956560883565,
+                    -0.5131407500401539,
+                    0.841016503736598
+                ],
+                [
+                    -0.19586896378714896,
+                    -0.8188599664136192,
+                    -0.5395402713700205
+                ]
+            ],
+            "translation_vector": [
+                0.630752108799043,
+                -0.25579128673696866,
+                0.46155406446774183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655212209118202,
+                    -0.2572531410626846,
+                    0.03986970506952009
+                ],
+                [
+                    -0.1714332746877932,
+                    -0.5130745877506759,
+                    0.8410499983558014
+                ],
+                [
+                    -0.19590662137551063,
+                    -0.818886615361282,
+                    -0.5394861507799582
+                ]
+            ],
+            "translation_vector": [
+                0.6307600281262971,
+                -0.25580553638441406,
+                0.4615788482819061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655235805145903,
+                    -0.25725566976861536,
+                    0.03979617873850665
+                ],
+                [
+                    -0.17139226107204575,
+                    -0.5131647866693618,
+                    0.8410033261332565
+                ],
+                [
+                    -0.1959308763694426,
+                    -0.8188292997288812,
+                    -0.5395643331342546
+                ]
+            ],
+            "translation_vector": [
+                0.6307507303557378,
+                -0.25579298539620987,
+                0.4615434984767285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655376139794429,
+                    -0.25719372881276603,
+                    0.03985601397868832
+                ],
+                [
+                    -0.17139215878770042,
+                    -0.5130950927525644,
+                    0.841045868962763
+                ],
+                [
+                    -0.19586179795196346,
+                    -0.8188924298420536,
+                    -0.5394936000087504
+                ]
+            ],
+            "translation_vector": [
+                0.6307540388456596,
+                -0.25579026257900533,
+                0.46156535248035047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655328339423329,
+                    -0.2572118006793097,
+                    0.039855190008261925
+                ],
+                [
+                    -0.17141830801673372,
+                    -0.5131640572412173,
+                    0.840998462562455
+                ],
+                [
+                    -0.1958624779174609,
+                    -0.8188435381359738,
+                    -0.5395675581398426
+                ]
+            ],
+            "translation_vector": [
+                0.6307514718265669,
+                -0.25579974816739415,
+                0.46155577679566223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655204324470127,
+                    -0.25725874152729117,
+                    0.03985265907223908
+                ],
+                [
+                    -0.1714341309852187,
+                    -0.5131267958841915,
+                    0.8410179725065132
+                ],
+                [
+                    -0.19590975795165644,
+                    -0.818852142485698,
+                    -0.5395373346543366
+                ]
+            ],
+            "translation_vector": [
+                0.6307611066109199,
+                -0.25579587028183415,
+                0.4615515310430893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96552169099825,
+                    -0.25724215646206505,
+                    0.03992915163920518
+                ],
+                [
+                    -0.17147785794449852,
+                    -0.513070843295864,
+                    0.8410431938934158
+                ],
+                [
+                    -0.19586528137126952,
+                    -0.8188924121631718,
+                    -0.5394923621840592
+                ]
+            ],
+            "translation_vector": [
+                0.6307659680273653,
+                -0.2558071917647809,
+                0.46157394776751837
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655256456452975,
+                    -0.2572345363211904,
+                    0.03988258924460396
+                ],
+                [
+                    -0.17144942757672785,
+                    -0.5131398308909331,
+                    0.8410069011231937
+                ],
+                [
+                    -0.19587067515287732,
+                    -0.8188515782953876,
+                    -0.53955238053252
+                ]
+            ],
+            "translation_vector": [
+                0.6307640993628765,
+                -0.2557962036544192,
+                0.46154571208128586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96552646869467,
+                    -0.257228998009667,
+                    0.039898381332369996
+                ],
+                [
+                    -0.17146116527777314,
+                    -0.5131446844536036,
+                    0.8410015467397188
+                ],
+                [
+                    -0.1958563428934295,
+                    -0.8188502765463014,
+                    -0.5395595588519001
+                ]
+            ],
+            "translation_vector": [
+                0.6307669949165329,
+                -0.25580664891272004,
+                0.4615681986892663
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965530551039245,
+                    -0.2572168196788852,
+                    0.03987809779981842
+                ],
+                [
+                    -0.1714267794788542,
+                    -0.5131040106103085,
+                    0.8410333724491108
+                ],
+                [
+                    -0.19586631738857063,
+                    -0.8188795894207502,
+                    -0.5395114491303623
+                ]
+            ],
+            "translation_vector": [
+                0.6307596385523502,
+                -0.25579362703232544,
+                0.46156234125910767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655300127606758,
+                    -0.25721923276722786,
+                    0.03987556586441798
+                ],
+                [
+                    -0.1714355302351245,
+                    -0.5131440262133582,
+                    0.8410071743656803
+                ],
+                [
+                    -0.19586131172687116,
+                    -0.8188537565745074,
+                    -0.5395524737339701
+                ]
+            ],
+            "translation_vector": [
+                0.6307608831098768,
+                -0.25579271655980795,
+                0.4615478933406003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965539801429548,
+                    -0.25717705431278964,
+                    0.03991058243606374
+                ],
+                [
+                    -0.17143574896040675,
+                    -0.5131186232683913,
+                    0.8410226289663885
+                ],
+                [
+                    -0.1958128592145413,
+                    -0.8188829227613356,
+                    -0.5395257945419097
+                ]
+            ],
+            "translation_vector": [
+                0.6307617058483754,
+                -0.2557851027014586,
+                0.4615621017353569
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655204222523145,
+                    -0.25725638308452736,
+                    0.03986812731969898
+                ],
+                [
+                    -0.17145001779440702,
+                    -0.5131425409267456,
+                    0.841005127267094
+                ],
+                [
+                    -0.19589590504145374,
+                    -0.8188430167336781,
+                    -0.539556214248784
+                ]
+            ],
+            "translation_vector": [
+                0.6307660713312526,
+                -0.2558008852463132,
+                0.46155917857060696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655283250400599,
+                    -0.257224225349182,
+                    0.03988422543876298
+                ],
+                [
+                    -0.1714350712570461,
+                    -0.5130985932073663,
+                    0.8410349873766927
+                ],
+                [
+                    -0.195870033155734,
+                    -0.8188806576920323,
+                    -0.5395084786816948
+                ]
+            ],
+            "translation_vector": [
+                0.6307587899521154,
+                -0.2557959443299189,
+                0.46156128973789273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655230663410744,
+                    -0.2572492660671334,
+                    0.03985001218632559
+                ],
+                [
+                    -0.17142429789219826,
+                    -0.51311806292978,
+                    0.8410253049625541
+                ],
+                [
+                    -0.19590538138472854,
+                    -0.818860591677919,
+                    -0.5395261003337952
+                ]
+            ],
+            "translation_vector": [
+                0.6307560318708386,
+                -0.25579872860248093,
+                0.4615487654222195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655380275356417,
+                    -0.2571869657359461,
+                    0.03988962318848975
+                ],
+                [
+                    -0.17142373526214427,
+                    -0.5131209423271088,
+                    0.8410236628859584
+                ],
+                [
+                    -0.1958321229302197,
+                    -0.8188783567788791,
+                    -0.5395257328689393
+                ]
+            ],
+            "translation_vector": [
+                0.6307647824908131,
+                -0.25578850692899485,
+                0.46156446518071437
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655388511245894,
+                    -0.25718814520983424,
+                    0.039862073861425616
+                ],
+                [
+                    -0.17140521612253917,
+                    -0.5131410147056523,
+                    0.8410151906552219
+                ],
+                [
+                    -0.19584427194838797,
+                    -0.8188654083488807,
+                    -0.539540975417648
+                ]
+            ],
+            "translation_vector": [
+                0.6307531427938677,
+                -0.25578573977914826,
+                0.4615588532862036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655318414457675,
+                    -0.25721368653001314,
+                    0.03986706179273488
+                ],
+                [
+                    -0.1714218500604596,
+                    -0.5131311088687669,
+                    0.8410178443011536
+                ],
+                [
+                    -0.1958642705451784,
+                    -0.8188635933858276,
+                    -0.539536470455015
+                ]
+            ],
+            "translation_vector": [
+                0.6307568739283231,
+                -0.25579711482340445,
+                0.4615565369814316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655377072819851,
+                    -0.2571910113036057,
+                    0.0398712869277676
+                ],
+                [
+                    -0.1714103999383004,
+                    -0.5131222578387684,
+                    0.8410255782694345
+                ],
+                [
+                    -0.19584537423600218,
+                    -0.8188762618461187,
+                    -0.5395241024970869
+                ]
+            ],
+            "translation_vector": [
+                0.6307601896401449,
+                -0.25579524136946413,
+                0.461566876638066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655471279550037,
+                    -0.2571515821938824,
+                    0.039897461987283354
+                ],
+                [
+                    -0.17141034950115583,
+                    -0.513121328972328,
+                    0.8410261552636541
+                ],
+                [
+                    -0.19579896777494857,
+                    -0.8188892266533097,
+                    -0.5395212680603144
+                ]
+            ],
+            "translation_vector": [
+                0.6307596880719242,
+                -0.2557885006768307,
+                0.4615775050876048
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965522056491864,
+                    -0.2572500032963878,
+                    0.039869715721711975
+                ],
+                [
+                    -0.17143926357782088,
+                    -0.5131071098686091,
+                    0.8410289369018032
+                ],
+                [
+                    -0.19589726218509568,
+                    -0.8188672234289827,
+                    -0.5395189830414611
+                ]
+            ],
+            "translation_vector": [
+                0.63076265366918,
+                -0.2557986313314261,
+                0.4615600493878149
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655337746216837,
+                    -0.2572050724924426,
+                    0.03987581659303902
+                ],
+                [
+                    -0.17142457060413777,
+                    -0.5131312697480799,
+                    0.841017191619714
+                ],
+                [
+                    -0.19585235933731138,
+                    -0.8188661982832611,
+                    -0.5395368408655038
+                ]
+            ],
+            "translation_vector": [
+                0.6307574112337676,
+                -0.2557943269482261,
+                0.4615585871922938
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655335887092736,
+                    -0.25720584979739797,
+                    0.03987530444009152
+                ],
+                [
+                    -0.17142457060482072,
+                    -0.5131312697509346,
+                    0.8410171916178331
+                ],
+                [
+                    -0.19585327586523638,
+                    -0.8188659541303402,
+                    -0.539536878720133
+                ]
+            ],
+            "translation_vector": [
+                0.6307574995690618,
+                -0.2557943269479018,
+                0.46155818909460483
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655248296051433,
+                    -0.2572433334728789,
+                    0.03984558695414378
+                ],
+                [
+                    -0.17142013831093617,
+                    -0.513131020140728,
+                    0.8410182473352141
+                ],
+                [
+                    -0.19590033077414273,
+                    -0.8188543359799085,
+                    -0.5395374285899769
+                ]
+            ],
+            "translation_vector": [
+                0.6307578682243828,
+                -0.25579235928070365,
+                0.4615537272091342
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655315713761343,
+                    -0.25721065270937665,
+                    0.039893167444434684
+                ],
+                [
+                    -0.17143507113369524,
+                    -0.5130985931151143,
+                    0.8410349874581173
+                ],
+                [
+                    -0.19585402998487952,
+                    -0.8188849210213283,
+                    -0.5395078174248962
+                ]
+            ],
+            "translation_vector": [
+                0.6307613418154534,
+                -0.255795944278961,
+                0.4615660611647762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655362184286875,
+                    -0.2571918788788247,
+                    0.03990173356146074
+                ],
+                [
+                    -0.1714385630850429,
+                    -0.513127045608905,
+                    0.8410169166859919
+                ],
+                [
+                    -0.19582806231428013,
+                    -0.8188729892379262,
+                    -0.539535353342835
+                ]
+            ],
+            "translation_vector": [
+                0.6307655599847316,
+                -0.25579783784174814,
+                0.461567075511143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655327271128871,
+                    -0.2572039755289884,
+                    0.03990824283321477
+                ],
+                [
+                    -0.17144650362572875,
+                    -0.5131075115130572,
+                    0.8410272159825692
+                ],
+                [
+                    -0.19583832430978418,
+                    -0.8188814301234103,
+                    -0.5395188172163916
+                ]
+            ],
+            "translation_vector": [
+                0.6307628424980967,
+                -0.2557978082281448,
+                0.46156685251537016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655293778604346,
+                    -0.25722048068210523,
+                    0.039882888637971535
+                ],
+                [
+                    -0.17143856333226226,
+                    -0.5131270457984696,
+                    0.8410169165199384
+                ],
+                [
+                    -0.19586178670432877,
+                    -0.8188640053072316,
+                    -0.5395367469609331
+                ]
+            ],
+            "translation_vector": [
+                0.6307606496287758,
+                -0.2557978379426718,
+                0.46155654367005156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655262223484868,
+                    -0.2572356124969766,
+                    0.039861681108131396
+                ],
+                [
+                    -0.17142842979082454,
+                    -0.513125602491697,
+                    0.8410198627422457
+                ],
+                [
+                    -0.19588621037968293,
+                    -0.8188601563947527,
+                    -0.539533721700737
+                ]
+            ],
+            "translation_vector": [
+                0.6307593949421308,
+                -0.25579467648065496,
+                0.4615584721740515
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655340058329851,
+                    -0.25720405535527285,
+                    0.039876778818146254
+                ],
+                [
+                    -0.171421412379244,
+                    -0.5131170014104576,
+                    0.8410265407473453
+                ],
+                [
+                    -0.19585398376855856,
+                    -0.8188754586457837,
+                    -0.5395221962715187
+                ]
+            ],
+            "translation_vector": [
+                0.6307574315417614,
+                -0.2557947707773432,
+                0.46156258942113393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655325682844528,
+                    -0.25721201620809514,
+                    0.039860234572758196
+                ],
+                [
+                    -0.17141627892837075,
+                    -0.5131366871314251,
+                    0.8410155763350267
+                ],
+                [
+                    -0.1958655633345987,
+                    -0.8188606224736618,
+                    -0.5395405101210362
+                ]
+            ],
+            "translation_vector": [
+                0.6307557961855326,
+                -0.2557920097661311,
+                0.46155446923438914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655262223484868,
+                    -0.2572356124969766,
+                    0.039861681108131396
+                ],
+                [
+                    -0.17142842979082454,
+                    -0.513125602491697,
+                    0.8410198627422457
+                ],
+                [
+                    -0.19588621037968293,
+                    -0.8188601563947527,
+                    -0.539533721700737
+                ]
+            ],
+            "translation_vector": [
+                0.6307593949421308,
+                -0.25579467648065496,
+                0.4615583958801061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655284027077189,
+                    -0.2572264074155314,
+                    0.03986826924736127
+                ],
+                [
+                    -0.17142711351364873,
+                    -0.5131181950141478,
+                    0.8410246504697717
+                ],
+                [
+                    -0.19587661503369833,
+                    -0.8188676897237563,
+                    -0.5395257717750084
+                ]
+            ],
+            "translation_vector": [
+                0.6307590549816914,
+                -0.25579596455543563,
+                0.46155619902657374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655348734497156,
+                    -0.2572017833040175,
+                    0.03987042535106698
+                ],
+                [
+                    -0.17141519958433452,
+                    -0.5131196158131321,
+                    0.8410262119691909
+                ],
+                [
+                    -0.19585514418545272,
+                    -0.818874534060632,
+                    -0.5395231783372042
+                ]
+            ],
+            "translation_vector": [
+                0.6307576855331611,
+                -0.25579009624728516,
+                0.4615579682752957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655242676038466,
+                    -0.25724068998714716,
+                    0.03987625964144744
+                ],
+                [
+                    -0.171437842001691,
+                    -0.5130996824025529,
+                    0.8410337580907216
+                ],
+                [
+                    -0.1958876080763123,
+                    -0.8188748032106834,
+                    -0.5395109838259137
+                ]
+            ],
+            "translation_vector": [
+                0.6307622918029914,
+                -0.25579989709958134,
+                0.4615579571619386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655293778604346,
+                    -0.25722048068210523,
+                    0.039882888637971535
+                ],
+                [
+                    -0.17143856333226226,
+                    -0.5131270457984696,
+                    0.8410169165199384
+                ],
+                [
+                    -0.19586178670432877,
+                    -0.8188640053072316,
+                    -0.5395367469609331
+                ]
+            ],
+            "translation_vector": [
+                0.6307606496287758,
+                -0.2557978379426718,
+                0.46155646737610617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655296436443698,
+                    -0.2572202651289153,
+                    0.03987784411157853
+                ],
+                [
+                    -0.17144059230542252,
+                    -0.5131544160740802,
+                    0.8409998029569544
+                ],
+                [
+                    -0.19585870048058304,
+                    -0.8188469212683654,
+                    -0.5395637950932002
+                ]
+            ],
+            "translation_vector": [
+                0.630756325212434,
+                -0.25580557625080613,
+                0.4615578514061376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655436360020118,
+                    -0.25717107144108575,
+                    0.039856329357563135
+                ],
+                [
+                    -0.17138730935819763,
+                    -0.5131280340424335,
+                    0.841026759901672
+                ],
+                [
+                    -0.1958363530271437,
+                    -0.8188789047799384,
+                    -0.5395233657029477
+                ]
+            ],
+            "translation_vector": [
+                0.630751230511893,
+                -0.25578309839258123,
+                0.46156234557040615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655296240670449,
+                    -0.25722089758455896,
+                    0.039874238484828295
+                ],
+                [
+                    -0.17143944458251018,
+                    -0.5131612301675268,
+                    0.8409958791184362
+                ],
+                [
+                    -0.19585980161889158,
+                    -0.8188424523061472,
+                    -0.539570177466346
+                ]
+            ],
+            "translation_vector": [
+                0.6307595568590183,
+                -0.2557918473475089,
+                0.4615465971931103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655431843141478,
+                    -0.2571681443439618,
+                    0.03988614745973011
+                ],
+                [
+                    -0.1714143489082288,
+                    -0.5131395203925467,
+                    0.8410142410207306
+                ],
+                [
+                    -0.1958149131523544,
+                    -0.8188726263259696,
+                    -0.5395406765399117
+                ]
+            ],
+            "translation_vector": [
+                0.6307597147486251,
+                -0.25579183491100244,
+                0.4615652109558226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655438671323981,
+                    -0.2571700546324712,
+                    0.03985729096847787
+                ],
+                [
+                    -0.1713841511005474,
+                    -0.5131137655287655,
+                    0.8410361088422044
+                ],
+                [
+                    -0.19583797740621942,
+                    -0.8188881649072864,
+                    -0.5395087209491782
+                ]
+            ],
+            "translation_vector": [
+                0.6307512507600425,
+                -0.2557835422802963,
+                0.4615662714989851
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655240456137694,
+                    -0.25725011142975074,
+                    0.03982081755816749
+                ],
+                [
+                    -0.17140342522899643,
+                    -0.5131350836674233,
+                    0.8410191744124473
+                ],
+                [
+                    -0.19591881778274353,
+                    -0.8188496602423472,
+                    -0.5395378121685307
+                ]
+            ],
+            "translation_vector": [
+                0.6307515404440543,
+                -0.2557916362685469,
+                0.46154887293286656
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655363427354972,
+                    -0.25719451608780286,
+                    0.03988172202051794
+                ],
+                [
+                    -0.17141774188701847,
+                    -0.513106541002169,
+                    0.8410336707570899
+                ],
+                [
+                    -0.19584567552876025,
+                    -0.8188850093115335,
+                    -0.5395107162063911
+                ]
+            ],
+            "translation_vector": [
+                0.630764239681194,
+                -0.2557917337029984,
+                0.4615661118779495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655373367077664,
+                    -0.2571949890705091,
+                    0.0398545984836625
+                ],
+                [
+                    -0.17139848622182255,
+                    -0.5131236787470858,
+                    0.841027139413423
+                ],
+                [
+                    -0.19585762774051188,
+                    -0.8188741221372662,
+                    -0.5395229019696762
+                ]
+            ],
+            "translation_vector": [
+                0.6307539098175754,
+                -0.25578937320727085,
+                0.461558037855472
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655380134889506,
+                    -0.25718776462080284,
+                    0.03988481211144656
+                ],
+                [
+                    -0.17141631422499903,
+                    -0.5131055175321727,
+                    0.8410345861470606
+                ],
+                [
+                    -0.19583868801982726,
+                    -0.8188877710696354,
+                    -0.5395090607832986
+                ]
+            ],
+            "translation_vector": [
+                0.6307564600551205,
+                -0.2557950414360649,
+                0.46156666257358875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655375503178859,
+                    -0.25718980240209743,
+                    0.039882884380479315
+                ],
+                [
+                    -0.17142264092880657,
+                    -0.5131341033301884,
+                    0.8410158560791334
+                ],
+                [
+                    -0.19583543372722423,
+                    -0.8188692188255059,
+                    -0.5395384002617204
+                ]
+            ],
+            "translation_vector": [
+                0.6307564193754973,
+                -0.2557941521852543,
+                0.4615587972632304
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655330313962455,
+                    -0.25720997896653564,
+                    0.03986216254559422
+                ],
+                [
+                    -0.1714099516421432,
+                    -0.5131081014801238,
+                    0.8410343064783393
+                ],
+                [
+                    -0.19586881773476664,
+                    -0.8188791747965614,
+                    -0.5395111707126067
+                ]
+            ],
+            "translation_vector": [
+                0.6307558369864491,
+                -0.2557928989834317,
+                0.46156233454414247
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655341917460668,
+                    -0.25720327804129595,
+                    0.03987729095715651
+                ],
+                [
+                    -0.1714214123785612,
+                    -0.5131170014076022,
+                    0.8410265407492266
+                ],
+                [
+                    -0.19585306724023793,
+                    -0.8188757027970014,
+                    -0.5395221584154891
+                ]
+            ],
+            "translation_vector": [
+                0.63075734320229,
+                -0.2557947707776677,
+                0.46156306381270346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655341917460668,
+                    -0.25720327804129595,
+                    0.03987729095715651
+                ],
+                [
+                    -0.1714214123785612,
+                    -0.5131170014076022,
+                    0.8410265407492266
+                ],
+                [
+                    -0.19585306724023793,
+                    -0.8188757027970014,
+                    -0.5395221584154891
+                ]
+            ],
+            "translation_vector": [
+                0.63075734320229,
+                -0.2557947707776677,
+                0.46156306381270346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655320549414267,
+                    -0.2572091985126867,
+                    0.03989083956307446
+                ],
+                [
+                    -0.1714363109595059,
+                    -0.5131157443760237,
+                    0.8410242708495604
+                ],
+                [
+                    -0.19585056079874064,
+                    -0.8188746308647621,
+                    -0.5395246952280484
+                ]
+            ],
+            "translation_vector": [
+                0.6307576893234285,
+                -0.25579532413349126,
+                0.46155788226482874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655363160548469,
+                    -0.2572011554001885,
+                    0.039839528612203454
+                ],
+                [
+                    -0.171390194324761,
+                    -0.5131290961977241,
+                    0.8410255239436122
+                ],
+                [
+                    -0.19586991516962263,
+                    -0.8188687906472654,
+                    -0.539526533207895
+                ]
+            ],
+            "translation_vector": [
+                0.6307522064165437,
+                -0.2557870560029886,
+                0.4615542417854532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655345635800623,
+                    -0.25720153048787614,
+                    0.03987955926226707
+                ],
+                [
+                    -0.17142993307875712,
+                    -0.5131485599556764,
+                    0.8410055490066807
+                ],
+                [
+                    -0.19584377594621533,
+                    -0.818856475904117,
+                    -0.5395547120478319
+                ]
+            ],
+            "translation_vector": [
+                0.6307541877049715,
+                -0.2558007401627238,
+                0.46156039391293363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655325682844528,
+                    -0.25721201620809514,
+                    0.039860234572758196
+                ],
+                [
+                    -0.17141627892837075,
+                    -0.5131366871314251,
+                    0.8410155763350267
+                ],
+                [
+                    -0.1958655633345987,
+                    -0.8188606224736618,
+                    -0.5395405101210362
+                ]
+            ],
+            "translation_vector": [
+                0.6307557961855326,
+                -0.2557920097661311,
+                0.46155439294044387
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96552993016985,
+                    -0.2572169576140556,
+                    0.03989223811687542
+                ],
+                [
+                    -0.17143884319265468,
+                    -0.5131026205562238,
+                    0.841031761482942
+                ],
+                [
+                    -0.19585881902781083,
+                    -0.8188804170903741,
+                    -0.5395129150585056
+                ]
+            ],
+            "translation_vector": [
+                0.6307618851493714,
+                -0.25579696328352564,
+                0.4615602788784274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655365386246622,
+                    -0.2571893760568611,
+                    0.039910116815021365
+                ],
+                [
+                    -0.17144201166968273,
+                    -0.5131169377530391,
+                    0.84102238069245
+                ],
+                [
+                    -0.19582346441465726,
+                    -0.8188801090724003,
+                    -0.5395262159990145
+                ]
+            ],
+            "translation_vector": [
+                0.6307667750460448,
+                -0.25579651777407963,
+                0.461566947688532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655305798266952,
+                    -0.25721356048698635,
+                    0.039898417526681614
+                ],
+                [
+                    -0.17144682674108455,
+                    -0.5131216467817499,
+                    0.8410185260768028
+                ],
+                [
+                    -0.19584862782245513,
+                    -0.8188695622048683,
+                    -0.5395330898790813
+                ]
+            ],
+            "translation_vector": [
+                0.6307622590916748,
+                -0.2558001472822034,
+                0.4615606473853785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655405926546264,
+                    -0.2571878431532575,
+                    0.03982181902335524
+                ],
+                [
+                    -0.1713685167686223,
+                    -0.5131348998374313,
+                    0.8410264003165132
+                ],
+                [
+                    -0.1958678008164584,
+                    -0.8188693350608539,
+                    -0.5395264745129005
+                ]
+            ],
+            "translation_vector": [
+                0.630743122187064,
+                -0.2557847327831748,
+                0.4615575201317106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655244576711678,
+                    -0.2572397847894049,
+                    0.03987749691615242
+                ],
+                [
+                    -0.17145184898666613,
+                    -0.5131559034304928,
+                    0.8409966006194604
+                ],
+                [
+                    -0.1958744115954162,
+                    -0.8188398572956349,
+                    -0.5395688120955604
+                ]
+            ],
+            "translation_vector": [
+                0.6307565853845079,
+                -0.2558011993903473,
+                0.4615506207569242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655305798266952,
+                    -0.25721356048698635,
+                    0.039898417526681614
+                ],
+                [
+                    -0.17144682674108455,
+                    -0.5131216467817499,
+                    0.8410185260768028
+                ],
+                [
+                    -0.19584862782245513,
+                    -0.8188695622048683,
+                    -0.5395330898790813
+                ]
+            ],
+            "translation_vector": [
+                0.6307622590916748,
+                -0.2558001472822034,
+                0.4615606473853785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965535300954756,
+                    -0.25719562597277285,
+                    0.039899781837527966
+                ],
+                [
+                    -0.1714363108361573,
+                    -0.5131157442837712,
+                    0.8410242709309881
+                ],
+                [
+                    -0.19583455756606702,
+                    -0.8188788939449992,
+                    -0.539524033861623
+                ]
+            ],
+            "translation_vector": [
+                0.6307602412452402,
+                -0.2557953240825331,
+                0.4615628062652479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655275762488088,
+                    -0.2572315563221445,
+                    0.03985506160060697
+                ],
+                [
+                    -0.17142740031808162,
+                    -0.5131551336090373,
+                    0.841002054260794
+                ],
+                [
+                    -0.19588043782696868,
+                    -0.8188429246704025,
+                    -0.5395619693732469
+                ]
+            ],
+            "translation_vector": [
+                0.6307542952764434,
+                -0.2557996329270477,
+                0.46154943973176815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655399423905787,
+                    -0.25717360263369843,
+                    0.039929409672600204
+                ],
+                [
+                    -0.17145505191286958,
+                    -0.5131390520281927,
+                    0.8410062297374277
+                ],
+                [
+                    -0.19579526251151466,
+                    -0.8188712056190597,
+                    -0.5395499641238378
+                ]
+            ],
+            "translation_vector": [
+                0.6307646026409512,
+                -0.2558037852484946,
+                0.4615747287333716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655206058615705,
+                    -0.257259012705746,
+                    0.03984670674435763
+                ],
+                [
+                    -0.17144250061419472,
+                    -0.5131827987678235,
+                    0.840982094953261
+                ],
+                [
+                    -0.19590157896213561,
+                    -0.8188169608834985,
+                    -0.5395936952278572
+                ]
+            ],
+            "translation_vector": [
+                0.6307565646202383,
+                -0.2558027185388541,
+                0.46154598501982586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655342808893816,
+                    -0.2572017927033308,
+                    0.03988471207891221
+                ],
+                [
+                    -0.17142801907988298,
+                    -0.5131211616228472,
+                    0.8410226559190707
+                ],
+                [
+                    -0.19584684501357716,
+                    -0.818873562477757,
+                    -0.5395276656235664
+                ]
+            ],
+            "translation_vector": [
+                0.6307585379289598,
+                -0.25579300685936507,
+                0.4615590100752764
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655326082091324,
+                    -0.2572126629268579,
+                    0.0398550939648176
+                ],
+                [
+                    -0.17141374496525816,
+                    -0.5131432613816418,
+                    0.8410120815633968
+                ],
+                [
+                    -0.19586758415280264,
+                    -0.8188562995597498,
+                    -0.5395463373515365
+                ]
+            ],
+            "translation_vector": [
+                0.6307607260440694,
+                -0.25579090211024874,
+                0.461554521111069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655538895027148,
+                    -0.25712618797445497,
+                    0.03989749270197854
+                ],
+                [
+                    -0.17139503010137006,
+                    -0.5131180951315661,
+                    0.8410312503736727
+                ],
+                [
+                    -0.19577903392020704,
+                    -0.818899226954256,
+                    -0.5395133232562398
+                ]
+            ],
+            "translation_vector": [
+                0.630756021374444,
+                -0.255786279412868,
+                0.4615781445989077
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655319196079224,
+                    -0.2572165636823832,
+                    0.039846600678943085
+                ],
+                [
+                    -0.17140418703825752,
+                    -0.513124872617753,
+                    0.8410252491850462
+                ],
+                [
+                    -0.19587934266786455,
+                    -0.818866597479981,
+                    -0.5395264392479427
+                ]
+            ],
+            "translation_vector": [
+                0.6307554448479459,
+                -0.2557905668636991,
+                0.46155212191872863
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655522334184257,
+                    -0.25713200182435275,
+                    0.03990010248722908
+                ],
+                [
+                    -0.17139588079433732,
+                    -0.5130981902637778,
+                    0.841043220765003
+                ],
+                [
+                    -0.1957864565985697,
+                    -0.8189098734206576,
+                    -0.5394944695052389
+                ]
+            ],
+            "translation_vector": [
+                0.630758990663015,
+                -0.25578454086635305,
+                0.4615808830666943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655320683013092,
+                    -0.25720693508178494,
+                    0.03990510778873735
+                ],
+                [
+                    -0.17144272206490185,
+                    -0.5130960160810226,
+                    0.8410350000640641
+                ],
+                [
+                    -0.19584488283530185,
+                    -0.8188877034292418,
+                    -0.5395069147282632
+                ]
+            ],
+            "translation_vector": [
+                0.6307591021413901,
+                -0.25580790289922506,
+                0.46157419693839524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655451375010914,
+                    -0.2571636347226198,
+                    0.039867937296145774
+                ],
+                [
+                    -0.17140714171206545,
+                    -0.5131865337141913,
+                    0.8409870233151716
+                ],
+                [
+                    -0.19581159112294233,
+                    -0.8188445802413692,
+                    -0.5395844458388672
+                ]
+            ],
+            "translation_vector": [
+                0.6307557897620923,
+                -0.25578977630450606,
+                0.46155386032358536
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965526204838841,
+                    -0.2572329858488698,
+                    0.03987905165346389
+                ],
+                [
+                    -0.1714458561155984,
+                    -0.5131415021894709,
+                    0.841006609457692
+                ],
+                [
+                    -0.19587104479808642,
+                    -0.818851018025873,
+                    -0.5395530966343327
+                ]
+            ],
+            "translation_vector": [
+                0.6307585062805491,
+                -0.25580442601930187,
+                0.46155751341390827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655259586351905,
+                    -0.2572246686198029,
+                    0.03993861608805588
+                ],
+                [
+                    -0.17148384459599417,
+                    -0.513103366419312,
+                    0.8410221319393124
+                ],
+                [
+                    -0.19583900082509986,
+                    -0.8188775276087396,
+                    -0.539524494840804
+                ]
+            ],
+            "translation_vector": [
+                0.6307710568690165,
+                -0.2558002866072709,
+                0.46156062357959593
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655350697742902,
+                    -0.25719664311505447,
+                    0.03989881961041533
+                ],
+                [
+                    -0.17143946872374954,
+                    -0.5131300126788965,
+                    0.841014921777179
+                ],
+                [
+                    -0.195832932878195,
+                    -0.8188696336160619,
+                    -0.5395386784483773
+                ]
+            ],
+            "translation_vector": [
+                0.6307602209375799,
+                -0.25579488025028196,
+                0.461558880336025
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655342808893816,
+                    -0.2572017927033308,
+                    0.03988471207891221
+                ],
+                [
+                    -0.17142801907988298,
+                    -0.5131211616228472,
+                    0.8410226559190707
+                ],
+                [
+                    -0.19584684501357716,
+                    -0.818873562477757,
+                    -0.5395276656235664
+                ]
+            ],
+            "translation_vector": [
+                0.6307585379289598,
+                -0.25579300685936507,
+                0.461558933781331
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655363442051735,
+                    -0.2571967461345833,
+                    0.03986730235031951
+                ],
+                [
+                    -0.17141434915544568,
+                    -0.5131395205821163,
+                    0.8410142408546785
+                ],
+                [
+                    -0.1958486377857248,
+                    -0.8188636432242788,
+                    -0.5395420696136098
+                ]
+            ],
+            "translation_vector": [
+                0.630754804327548,
+                -0.2557918350119254,
+                0.46155460302494933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655323447423619,
+                    -0.2571977726369733,
+                    0.03995743994422613
+                ],
+                [
+                    -0.17147525621480297,
+                    -0.5130634298821904,
+                    0.8410482467870617
+                ],
+                [
+                    -0.19581503456676744,
+                    -0.8189109980138882,
+                    -0.5394823904165115
+                ]
+            ],
+            "translation_vector": [
+                0.6307706891702543,
+                -0.2557986638569283,
+                0.4615746886202635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655395681093777,
+                    -0.25718723727568604,
+                    0.03985056332922991
+                ],
+                [
+                    -0.17139254834162923,
+                    -0.5131321480702306,
+                    0.8410231821952316
+                ],
+                [
+                    -0.19585182355066102,
+                    -0.8188712497086045,
+                    -0.5395293686283904
+                ]
+            ],
+            "translation_vector": [
+                0.6307475051226521,
+                -0.2557913811338425,
+                0.4615538848322168
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655246252933515,
+                    -0.2572407021984478,
+                    0.03986751916764857
+                ],
+                [
+                    -0.17144113583686427,
+                    -0.5131452486277014,
+                    0.8410052858060884
+                ],
+                [
+                    -0.19588296223791174,
+                    -0.8188462462167511,
+                    -0.5395560120706995
+                ]
+            ],
+            "translation_vector": [
+                0.63076239586171,
+                -0.25579388640014045,
+                0.46154199219403913
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655301885451638,
+                    -0.25720432287142847,
+                    0.039967377999942995
+                ],
+                [
+                    -0.17148227935290605,
+                    -0.5130408783953219,
+                    0.841060571518656
+                ],
+                [
+                    -0.1958195160750639,
+                    -0.8189230692755006,
+                    -0.539462439593825
+                ]
+            ],
+            "translation_vector": [
+                0.6307732221515444,
+                -0.25580159383121376,
+                0.4615831487540794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655480670134122,
+                    -0.2571587150333486,
+                    0.03982870282924039
+                ],
+                [
+                    -0.17137620701378403,
+                    -0.5132118822361896,
+                    0.8409778591622706
+                ],
+                [
+                    -0.19582422208764547,
+                    -0.8188302383363626,
+                    -0.5396016260444219
+                ]
+            ],
+            "translation_vector": [
+                0.6307444809764924,
+                -0.2557776591790453,
+                0.4615400943061931
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655247787756523,
+                    -0.25723267560203106,
+                    0.03991556304059706
+                ],
+                [
+                    -0.1714752473575357,
+                    -0.5131321648787723,
+                    0.8410063144296221
+                ],
+                [
+                    -0.19585234518355796,
+                    -0.8188569667343893,
+                    -0.5395508566545472
+                ]
+            ],
+            "translation_vector": [
+                0.6307600367149743,
+                -0.2558119724535915,
+                0.4615622624271226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655468650455242,
+                    -0.25716677259438464,
+                    0.039805809552737395
+                ],
+                [
+                    -0.17134653999522526,
+                    -0.5131518763017902,
+                    0.8410205200110263
+                ],
+                [
+                    -0.1958561069571877,
+                    -0.8188653142741734,
+                    -0.5395368221412087
+                ]
+            ],
+            "translation_vector": [
+                0.6307369887720726,
+                -0.2557851603648558,
+                0.46155872360106304
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655326782079754,
+                    -0.2572119290430903,
+                    0.039858134307393794
+                ],
+                [
+                    -0.17141710556132345,
+                    -0.5131480004296431,
+                    0.8410085050557081
+                ],
+                [
+                    -0.19586429800632896,
+                    -0.8188535602981715,
+                    -0.5395516875643118
+                ]
+            ],
+            "translation_vector": [
+                0.630762835681769,
+                -0.25578723782197044,
+                0.4615567100973693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655292819142665,
+                    -0.2572156711913788,
+                    0.039916215498085106
+                ],
+                [
+                    -0.17146394710367066,
+                    -0.5131233453644837,
+                    0.841013999458743
+                ],
+                [
+                    -0.19584003832145944,
+                    -0.8188678348399878,
+                    -0.5395388294226098
+                ]
+            ],
+            "translation_vector": [
+                0.6307594959419617,
+                -0.2558075670411312,
+                0.4615605993302102
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655303423856988,
+                    -0.2572194221228398,
+                    0.03986636195274346
+                ],
+                [
+                    -0.17142457072817163,
+                    -0.5131312698431842,
+                    0.8410171915364055
+                ],
+                [
+                    -0.19586927906952878,
+                    -0.8188616908806475,
+                    -0.5395375396808544
+                ]
+            ],
+            "translation_vector": [
+                0.6307549475752487,
+                -0.25579432699886034,
+                0.46155326514351486
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655321211822606,
+                    -0.25721242560386964,
+                    0.03986842209391657
+                ],
+                [
+                    -0.1714367082030005,
+                    -0.5131913002548594,
+                    0.840978087956664
+                ],
+                [
+                    -0.19584988650955143,
+                    -0.8188262681776282,
+                    -0.5395983362617932
+                ]
+            ],
+            "translation_vector": [
+                0.630753500741088,
+                -0.25580219421456923,
+                0.4615468608385169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655281268136535,
+                    -0.2572235667283981,
+                    0.039893270751331665
+                ],
+                [
+                    -0.17145221760339707,
+                    -0.5131389190540881,
+                    0.8410068886940698
+                ],
+                [
+                    -0.19585600172217105,
+                    -0.8188555956159326,
+                    -0.539551610244916
+                ]
+            ],
+            "translation_vector": [
+                0.630756489115538,
+                -0.25580656838152943,
+                0.461557544552474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965541353890982,
+                    -0.25718491451414877,
+                    0.039822276086630734
+                ],
+                [
+                    -0.1713826831994803,
+                    -0.5131994896649418,
+                    0.8409841019347454
+                ],
+                [
+                    -0.19585165259889037,
+                    -0.8188297769097028,
+                    -0.5395923707951125
+                ]
+            ],
+            "translation_vector": [
+                0.6307415163891918,
+                -0.25579900107246856,
+                0.4615530970136447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655264518285741,
+                    -0.2572315505199734,
+                    0.039882329876956335
+                ],
+                [
+                    -0.17144201204025217,
+                    -0.5131169380348556,
+                    0.8410223804449702
+                ],
+                [
+                    -0.19587319195569877,
+                    -0.8188668617784118,
+                    -0.5395282711353144
+                ]
+            ],
+            "translation_vector": [
+                0.6307593126578929,
+                -0.2557965179259629,
+                0.46155149177767424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655299200621067,
+                    -0.2572086213433789,
+                    0.03994619595782326
+                ],
+                [
+                    -0.17148191539778665,
+                    -0.5131062009370635,
+                    0.841020795968471
+                ],
+                [
+                    -0.19582115860235536,
+                    -0.8188807920977099,
+                    -0.5395260162189206
+                ]
+            ],
+            "translation_vector": [
+                0.6307699766821291,
+                -0.25580011178279616,
+                0.46156107915851696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655390310448939,
+                    -0.25718059569622886,
+                    0.03990639956473825
+                ],
+                [
+                    -0.17143753905091888,
+                    -0.513132846493527,
+                    0.8410135861290324
+                ],
+                [
+                    -0.1958150906673242,
+                    -0.8188728979803785,
+                    -0.539540199818479
+                ]
+            ],
+            "translation_vector": [
+                0.6307591407432734,
+                -0.25579470547254024,
+                0.4615593358984494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655372722597352,
+                    -0.25719106631007416,
+                    0.039881465463508896
+                ],
+                [
+                    -0.17142897833365095,
+                    -0.5131627373445641,
+                    0.8409970929726895
+                ],
+                [
+                    -0.19583125711875182,
+                    -0.8188508780060756,
+                    -0.5395677513750875
+                ]
+            ],
+            "translation_vector": [
+                0.630756290275426,
+                -0.25579326168874367,
+                0.46155139286760305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655347213634471,
+                    -0.25720158048165176,
+                    0.039875416478712296
+                ],
+                [
+                    -0.17141948312111624,
+                    -0.5131198350333499,
+                    0.8410252051525193
+                ],
+                [
+                    -0.1958521448646904,
+                    -0.8188744603985939,
+                    -0.5395243789290823
+                ]
+            ],
+            "translation_vector": [
+                0.6307537994264273,
+                -0.2557945960677288,
+                0.46155834994451167
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655294678419888,
+                    -0.2572169371326289,
+                    0.03990355849890433
+                ],
+                [
+                    -0.1714601401095503,
+                    -0.5131504861511412,
+                    0.8409982157629475
+                ],
+                [
+                    -0.19584245474967793,
+                    -0.8188504294527525,
+                    -0.5395643678956791
+                ]
+            ],
+            "translation_vector": [
+                0.6307604874290813,
+                -0.2558035164423986,
+                0.4615610097085776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655321890932447,
+                    -0.2572069676734244,
+                    0.0399019749517322
+                ],
+                [
+                    -0.17144093273067618,
+                    -0.5130998663947177,
+                    0.8410330158145745
+                ],
+                [
+                    -0.19584585369428276,
+                    -0.8188852806626606,
+                    -0.539510239666304
+                ]
+            ],
+            "translation_vector": [
+                0.6307636656564077,
+                -0.255794604411503,
+                0.4615603129466467
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655372662565195,
+                    -0.25717909845667286,
+                    0.03995871352909391
+                ],
+                [
+                    -0.17147985591700776,
+                    -0.5131228474003401,
+                    0.8410110596718985
+                ],
+                [
+                    -0.1957867372540068,
+                    -0.8188796338857014,
+                    -0.5395402660809018
+                ]
+            ],
+            "translation_vector": [
+                0.6307642581013619,
+                -0.2558107171195228,
+                0.46157809127854466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655431209011469,
+                    -0.2571659505847368,
+                    0.03990182377187904
+                ],
+                [
+                    -0.1714264120120917,
+                    -0.5131381304327789,
+                    0.8410126303216933
+                ],
+                [
+                    -0.19580466527928772,
+                    -0.8188741862800423,
+                    -0.5395420281118654
+                ]
+            ],
+            "translation_vector": [
+                0.6307616963425963,
+                -0.25579517110341077,
+                0.46156457187058764
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655374429676838,
+                    -0.2571934568932677,
+                    0.03986191112726218
+                ],
+                [
+                    -0.1714049781796296,
+                    -0.5131278666353006,
+                    0.841023261234519
+                ],
+                [
+                    -0.1958514224678177,
+                    -0.8188719791356864,
+                    -0.5395284071332449
+                ]
+            ],
+            "translation_vector": [
+                0.6307550786109671,
+                -0.2557876042617329,
+                0.461553984148434
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655348734497156,
+                    -0.2572017833040175,
+                    0.03987042535106698
+                ],
+                [
+                    -0.17141519958433452,
+                    -0.5131196158131321,
+                    0.8410262119691909
+                ],
+                [
+                    -0.19585514418545272,
+                    -0.818874534060632,
+                    -0.5395231783372042
+                ]
+            ],
+            "translation_vector": [
+                0.6307576855331611,
+                -0.25579009624728516,
+                0.4615579682752957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655341183785014,
+                    -0.25720415208542874,
+                    0.03987342971285605
+                ],
+                [
+                    -0.17142264105283844,
+                    -0.5131341034252951,
+                    0.8410158559958241
+                ],
+                [
+                    -0.19585235352560892,
+                    -0.818864711690481,
+                    -0.5395390992009251
+                ]
+            ],
+            "translation_vector": [
+                0.6307539557193229,
+                -0.2557941522358884,
+                0.46155347523183254
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655341917460668,
+                    -0.25720327804129595,
+                    0.03987729095715651
+                ],
+                [
+                    -0.1714214123785612,
+                    -0.5131170014076022,
+                    0.8410265407492266
+                ],
+                [
+                    -0.19585306724023793,
+                    -0.8188757027970014,
+                    -0.5395221584154891
+                ]
+            ],
+            "translation_vector": [
+                0.63075734320229,
+                -0.2557947707776677,
+                0.46156306381270346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965538217913526,
+                    -0.25718712681710987,
+                    0.03988397607978605
+                ],
+                [
+                    -0.17142818789018893,
+                    -0.5131597425619281,
+                    0.8409990814563724
+                ],
+                [
+                    -0.1958272865181438,
+                    -0.8188539921215112,
+                    -0.5395644664371491
+                ]
+            ],
+            "translation_vector": [
+                0.63076174372424,
+                -0.2557962242268335,
+                0.4615591898926467
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655330099456416,
+                    -0.25720371325197394,
+                    0.03990309003957083
+                ],
+                [
+                    -0.17144841738612232,
+                    -0.5131349104880686,
+                    0.8410101092223541
+                ],
+                [
+                    -0.19583525443878502,
+                    -0.8188643437882727,
+                    -0.5395458642146171
+                ]
+            ],
+            "translation_vector": [
+                0.6307584922303244,
+                -0.2558055412296616,
+                0.46156816011322854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655319476311942,
+                    -0.25721215440283185,
+                    0.03987437436458602
+                ],
+                [
+                    -0.17142834202413954,
+                    -0.5131352969896041,
+                    0.8410139657189086
+                ],
+                [
+                    -0.19585806507358325,
+                    -0.8188614501921829,
+                    -0.5395419758784181
+                ]
+            ],
+            "translation_vector": [
+                0.6307580427277077,
+                -0.2557953459698179,
+                0.46155240689102905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655315767854066,
+                    -0.25721165109340816,
+                    0.039886598903514314
+                ],
+                [
+                    -0.17144331248688457,
+                    -0.5131545771484632,
+                    0.8409991501512394
+                ],
+                [
+                    -0.19584678918432985,
+                    -0.818849526160567,
+                    -0.5395641654824789
+                ]
+            ],
+            "translation_vector": [
+                0.6307568625536204,
+                -0.2558027883109485,
+                0.4615600541143105
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965541993265765,
+                    -0.2571718566576478,
+                    0.039891043902512975
+                ],
+                [
+                    -0.17142625763112085,
+                    -0.5131625761986461,
+                    0.8409977458850634
+                ],
+                [
+                    -0.19581036089789147,
+                    -0.8188570122630857,
+                    -0.5395660256471033
+                ]
+            ],
+            "translation_vector": [
+                0.6307607518627556,
+                -0.25579604946242407,
+                0.4615593236439268
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655363442051735,
+                    -0.2571967461345833,
+                    0.03986730235031951
+                ],
+                [
+                    -0.17141434915544568,
+                    -0.5131395205821163,
+                    0.8410142408546785
+                ],
+                [
+                    -0.1958486377857248,
+                    -0.8188636432242788,
+                    -0.5395420696136098
+                ]
+            ],
+            "translation_vector": [
+                0.630754804327548,
+                -0.2557918350119254,
+                0.46155460302494933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655344485684316,
+                    -0.2571967812826211,
+                    0.0399129593680389
+                ],
+                [
+                    -0.1714515318745121,
+                    -0.5131286228892915,
+                    0.8410133105900421
+                ],
+                [
+                    -0.195825434623642,
+                    -0.8188704611045626,
+                    -0.5395401440901897
+                ]
+            ],
+            "translation_vector": [
+                0.6307624674714076,
+                -0.2557982164933724,
+                0.461556741671205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655412878669666,
+                    -0.2571681792538643,
+                    0.03993180441016647
+                ],
+                [
+                    -0.1714515316273022,
+                    -0.5131286226997199,
+                    0.8410133107561025
+                ],
+                [
+                    -0.19579171005650797,
+                    -0.8188794442074735,
+                    -0.5395387494217699
+                ]
+            ],
+            "translation_vector": [
+                0.6307673778177818,
+                -0.2557982163924486,
+                0.4615673498697357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655377815060144,
+                    -0.25718878526140865,
+                    0.039883846607434784
+                ],
+                [
+                    -0.1714194829984502,
+                    -0.5131198349439521,
+                    0.8410252052320643
+                ],
+                [
+                    -0.1958370581197247,
+                    -0.8188784792158436,
+                    -0.5395237556810257
+                ]
+            ],
+            "translation_vector": [
+                0.6307564396833475,
+                -0.25579459601644633,
+                0.4615627231997708
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655326897367689,
+                    -0.25720725209943024,
+                    0.039888024733507665
+                ],
+                [
+                    -0.1714429711223394,
+                    -0.5131585135999218,
+                    0.840996817813637
+                ],
+                [
+                    -0.1958416010515269,
+                    -0.8188484410361779,
+                    -0.5395676953915935
+                ]
+            ],
+            "translation_vector": [
+                0.6307596169395504,
+                -0.25579677266336637,
+                0.46154872237748545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965533682574037,
+                    -0.2572053658732161,
+                    0.03987615303717945
+                ],
+                [
+                    -0.17143942823620412,
+                    -0.5131914613440359,
+                    0.8409774351607876
+                ],
+                [
+                    -0.19583980765172063,
+                    -0.8188283848094169,
+                    -0.5395987824016463
+                ]
+            ],
+            "translation_vector": [
+                0.6307542147978767,
+                -0.25579940626118197,
+                0.4615481147542381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655334195660175,
+                    -0.2572049951042178,
+                    0.03988491186642732
+                ],
+                [
+                    -0.17143866213593298,
+                    -0.5131572499071547,
+                    0.8409984672951358
+                ],
+                [
+                    -0.19584177497713498,
+                    -0.8188499419070417,
+                    -0.5395653545332946
+                ]
+            ],
+            "translation_vector": [
+                0.6307553333575743,
+                -0.2558054014734976,
+                0.4615580614836304
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655299528338817,
+                    -0.25721854320988097,
+                    0.039881464486514924
+                ],
+                [
+                    -0.17143347591786046,
+                    -0.5131156113203721,
+                    0.8410249299242214
+                ],
+                [
+                    -0.19586340524795068,
+                    -0.81887177900347,
+                    -0.5395243609294853
+                ]
+            ],
+            "translation_vector": [
+                0.6307572144877914,
+                -0.2557981070496475,
+                0.46155528130431467
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965538983296642,
+                    -0.2571818647925163,
+                    0.039899375387732555
+                ],
+                [
+                    -0.17142774657623167,
+                    -0.5131144361689651,
+                    0.8410268147323249
+                ],
+                [
+                    -0.1958238990477991,
+                    -0.8188840356343804,
+                    -0.5395200985550663
+                ]
+            ],
+            "translation_vector": [
+                0.6307580490870704,
+                -0.2557969053397775,
+                0.46156697945476927
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655381852236465,
+                    -0.25718855421034303,
+                    0.03987556216808048
+                ],
+                [
+                    -0.17141960762122033,
+                    -0.5131510835805125,
+                    0.841006113855977
+                ],
+                [
+                    -0.19583495856974517,
+                    -0.8188589701550195,
+                    -0.5395541270332819
+                ]
+            ],
+            "translation_vector": [
+                0.6307566528963825,
+                -0.2557890308682789,
+                0.461550223283396
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655395497262408,
+                    -0.2571850493485887,
+                    0.03986512643918264
+                ],
+                [
+                    -0.17141226505576054,
+                    -0.5131668000362234,
+                    0.840998020645136
+                ],
+                [
+                    -0.1958346580738499,
+                    -0.8188502217940389,
+                    -0.53956751288875
+                ]
+            ],
+            "translation_vector": [
+                0.630752602889814,
+                -0.2557925386435606,
+                0.46155083544554043
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655327786412713,
+                    -0.25720473083705386,
+                    0.03990212781676081
+                ],
+                [
+                    -0.1714515755590837,
+                    -0.5131491785363,
+                    0.8410007596939665
+                ],
+                [
+                    -0.1958336299198232,
+                    -0.8188550830290787,
+                    -0.5395605085529024
+                ]
+            ],
+            "translation_vector": [
+                0.6307584719882143,
+                -0.25580509751323904,
+                0.46156415787130967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655366098967644,
+                    -0.257196530600866,
+                    0.039862257787809184
+                ],
+                [
+                    -0.17141637768485035,
+                    -0.513166890721535,
+                    0.8409971270632244
+                ],
+                [
+                    -0.1958455524398466,
+                    -0.8188465588338698,
+                    -0.5395691176072452
+                ]
+            ],
+            "translation_vector": [
+                0.6307504799681471,
+                -0.2557995734132642,
+                0.4615560631709864
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655332567578981,
+                    -0.2572022780919117,
+                    0.03990636839926784
+                ],
+                [
+                    -0.17144457452338757,
+                    -0.513110345535876,
+                    0.8410258802025944
+                ],
+                [
+                    -0.19583740184393225,
+                    -0.8188801874806748,
+                    -0.5395210381353386
+                ]
+            ],
+            "translation_vector": [
+                0.630759298789562,
+                -0.2557976334922132,
+                0.4615621385447672
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655286606732099,
+                    -0.25721785255970664,
+                    0.03991718606277625
+                ],
+                [
+                    -0.17147220299927188,
+                    -0.5131490961988904,
+                    0.840996604433596
+                ],
+                [
+                    -0.1958358726514981,
+                    -0.8188510129412034,
+                    -0.5395658714077375
+                ]
+            ],
+            "translation_vector": [
+                0.630762822258495,
+                -0.2558068527932222,
+                0.46155854935532425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655222424460278,
+                    -0.2572492259902282,
+                    0.039870227857672136
+                ],
+                [
+                    -0.17143926357713793,
+                    -0.5131071098657538,
+                    0.8410289369036846
+                ],
+                [
+                    -0.1958963456681181,
+                    -0.8188674676238163,
+                    -0.5395189451921363
+                ]
+            ],
+            "translation_vector": [
+                0.6307625653320477,
+                -0.25579863133175074,
+                0.46156060007828675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655358032494562,
+                    -0.25719763916340566,
+                    0.03987464171874652
+                ],
+                [
+                    -0.17141992039179416,
+                    -0.5131339424050727,
+                    0.8410165087824963
+                ],
+                [
+                    -0.1958464284491773,
+                    -0.8188668582624397,
+                    -0.5395379920849903
+                ]
+            ],
+            "translation_vector": [
+                0.6307557937374422,
+                -0.2557969400634834,
+                0.4615570688668108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655364572006875,
+                    -0.2571889455534425,
+                    0.039914860659332765
+                ],
+                [
+                    -0.17144773229076365,
+                    -0.5131246138604235,
+                    0.8410165311948073
+                ],
+                [
+                    -0.19581885738789365,
+                    -0.81887543432179,
+                    -0.5395349832546542
+                ]
+            ],
+            "translation_vector": [
+                0.6307617420547798,
+                -0.25579718959472786,
+                0.46156345845183283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965536971298883,
+                    -0.25718766587137426,
+                    0.039910669984536656
+                ],
+                [
+                    -0.171446487600388,
+                    -0.5131377444435811,
+                    0.8410087735076515
+                ],
+                [
+                    -0.19581741226068286,
+                    -0.818867608194993,
+                    -0.5395473855969848
+                ]
+            ],
+            "translation_vector": [
+                0.6307574120289804,
+                -0.25580536644329077,
+                0.46156876826429877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655409866188328,
+                    -0.2571749159849136,
+                    0.03989568582295439
+                ],
+                [
+                    -0.17142457035555486,
+                    -0.513131269552801,
+                    0.8410171917895285
+                ],
+                [
+                    -0.19581680172432764,
+                    -0.8188756699251015,
+                    -0.5395353717479253
+                ]
+            ],
+            "translation_vector": [
+                0.6307621448209393,
+                -0.2557943268479529,
+                0.4615702203005029
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655296669505335,
+                    -0.2572167707953371,
+                    0.03989981278165458
+                ],
+                [
+                    -0.1714465037483946,
+                    -0.5131075116024537,
+                    0.8410272159030229
+                ],
+                [
+                    -0.19585341097576983,
+                    -0.8188774110688103,
+                    -0.5395194408456468
+                ]
+            ],
+            "translation_vector": [
+                0.6307602023045048,
+                -0.2557978082794274,
+                0.4615624028661198
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655318909360785,
+                    -0.2572176866558964,
+                    0.03984004589342226
+                ],
+                [
+                    -0.17141182828059284,
+                    -0.5131779900157186,
+                    0.8409912815772418
+                ],
+                [
+                    -0.1958727972713553,
+                    -0.8188329574674045,
+                    -0.5395798690224447
+                ]
+            ],
+            "translation_vector": [
+                0.6307523891374524,
+                -0.2557978201297416,
+                0.4615429223838553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655350593638989,
+                    -0.25720100599091833,
+                    0.03987093749100946
+                ],
+                [
+                    -0.17141519958365187,
+                    -0.5131196158102772,
+                    0.8410262119710721
+                ],
+                [
+                    -0.1958542276563087,
+                    -0.8188747782096926,
+                    -0.5395231404872063
+                ]
+            ],
+            "translation_vector": [
+                0.6307575971980764,
+                -0.2557900962476096,
+                0.4615584426671063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655347726554893,
+                    -0.25719649560579255,
+                    0.039906959809192497
+                ],
+                [
+                    -0.17144173929541623,
+                    -0.5131102123121303,
+                    0.8410265394435322
+                ],
+                [
+                    -0.1958324100359169,
+                    -0.8188820871585241,
+                    -0.5395199667393454
+                ]
+            ],
+            "translation_vector": [
+                0.6307611991745928,
+                -0.2558004163447345,
+                0.46156518148851233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655317828822754,
+                    -0.2572213399303316,
+                    0.0398190724228925
+                ],
+                [
+                    -0.17139416514260358,
+                    -0.5131717542306693,
+                    0.8409986865714403
+                ],
+                [
+                    -0.19588878579246097,
+                    -0.8188357179216492,
+                    -0.5395698756013839
+                ]
+            ],
+            "translation_vector": [
+                0.630751048201041,
+                -0.2557912720629167,
+                0.4615381092781982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655347224074292,
+                    -0.25719348538545,
+                    0.039927570686099416
+                ],
+                [
+                    -0.17146014663271184,
+                    -0.5131193365136929,
+                    0.8410172201640326
+                ],
+                [
+                    -0.19581654154411496,
+                    -0.8188773153354734,
+                    -0.5395329688598001
+                ]
+            ],
+            "translation_vector": [
+                0.6307612338763937,
+                -0.2558065399008857,
+                0.46157271449433257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655312306862917,
+                    -0.25720952643243644,
+                    0.039908671762129144
+                ],
+                [
+                    -0.17146198152271264,
+                    -0.5131573475830885,
+                    0.8409936536703441
+                ],
+                [
+                    -0.19583215124621522,
+                    -0.8188484573679623,
+                    -0.5395711004162365
+                ]
+            ],
+            "translation_vector": [
+                0.630760215400378,
+                -0.25580436087703606,
+                0.4615544124346872
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655324762343881,
+                    -0.25721250230108195,
+                    0.039859327599783154
+                ],
+                [
+                    -0.17142261691594407,
+                    -0.5131653209959786,
+                    0.8409968131549511
+                ],
+                [
+                    -0.19586047009639385,
+                    -0.8188425257563937,
+                    -0.5395698233468115
+                ]
+            ],
+            "translation_vector": [
+                0.6307555786433365,
+                -0.2557911193035122,
+                0.46154761552261747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965540199589875,
+                    -0.2571822308457118,
+                    0.039867569692257805
+                ],
+                [
+                    -0.17140592756429754,
+                    -0.5131381660338578,
+                    0.8410167837535892
+                ],
+                [
+                    -0.19583700102832152,
+                    -0.8188690510067111,
+                    -0.5395380860806781
+                ]
+            ],
+            "translation_vector": [
+                0.6307525553260057,
+                -0.2557934291386092,
+                0.4615592649272904
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655391896399349,
+                    -0.25719172327265344,
+                    0.03983077641096813
+                ],
+                [
+                    -0.1713893767207448,
+                    -0.5131801814525373,
+                    0.8409945201436304
+                ],
+                [
+                    -0.19585646483262253,
+                    -0.8188397394144862,
+                    -0.539575505688392
+                ]
+            ],
+            "translation_vector": [
+                0.6307535826508724,
+                -0.2557857778213135,
+                0.46154930608587846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655309643162733,
+                    -0.25720253867796805,
+                    0.039960118169197055
+                ],
+                [
+                    -0.1714824041315624,
+                    -0.5130721285246609,
+                    0.8410414829272298
+                ],
+                [
+                    -0.19581558165719945,
+                    -0.8189040511737516,
+                    -0.5394927366994577
+                ]
+            ],
+            "translation_vector": [
+                0.6307732589773571,
+                -0.255796028021792,
+                0.46157159772209766
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655296575758641,
+                    -0.2572192197913603,
+                    0.039884248913056794
+                ],
+                [
+                    -0.17145342134853228,
+                    -0.5131872374577916,
+                    0.8409771599861218
+                ],
+                [
+                    -0.1958474014362136,
+                    -0.8188266802445828,
+                    -0.539598612924754
+                ]
+            ],
+            "translation_vector": [
+                0.6307572764421576,
+                -0.2558029173275064,
+                0.46154679122444564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655343103805709,
+                    -0.2571992290205051,
+                    0.03990052717913874
+                ],
+                [
+                    -0.17143836190765435,
+                    -0.5131129597732605,
+                    0.8410255516802949
+                ],
+                [
+                    -0.19583764588131544,
+                    -0.8188795070729161,
+                    -0.5395219822691959
+                ]
+            ],
+            "translation_vector": [
+                0.6307594644486617,
+                -0.2557929589866053,
+                0.4615578391609172
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655359101742954,
+                    -0.2571940491620131,
+                    0.03989520321471256
+                ],
+                [
+                    -0.17144138230799422,
+                    -0.5131574110159141,
+                    0.8409978144750251
+                ],
+                [
+                    -0.19582711404761943,
+                    -0.8188532790403251,
+                    -0.5395656112176613
+                ]
+            ],
+            "translation_vector": [
+                0.6307556056846649,
+                -0.25580261353188766,
+                0.4615616110556354
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655335255563468,
+                    -0.25720365605016493,
+                    0.03989098069940263
+                ],
+                [
+                    -0.17143663372036633,
+                    -0.5131298795962094,
+                    0.8410155808807639
+                ],
+                [
+                    -0.1958430280744265,
+                    -0.8188675143025325,
+                    -0.5395382306886429
+                ]
+            ],
+            "translation_vector": [
+                0.630759481106327,
+                -0.25579766316593633,
+                0.46155754995006293
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655378147881146,
+                    -0.2571919022716876,
+                    0.03986293541703789
+                ],
+                [
+                    -0.17140497817826375,
+                    -0.5131278666295901,
+                    0.8410232612382812
+                ],
+                [
+                    -0.19584958940447403,
+                    -0.8188724674172628,
+                    -0.5395283314489264
+                ]
+            ],
+            "translation_vector": [
+                0.6307549019480561,
+                -0.2557876042623819,
+                0.46155485663307705
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655383169667324,
+                    -0.25718294175062817,
+                    0.03990855724707007
+                ],
+                [
+                    -0.1714332749587824,
+                    -0.5131015249495547,
+                    0.8410335649255313
+                ],
+                [
+                    -0.19582234475655785,
+                    -0.8188917874584738,
+                    -0.5395088968007009
+                ]
+            ],
+            "translation_vector": [
+                0.6307584929025587,
+                -0.25579322812090693,
+                0.46156197513871816
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655372722597352,
+                    -0.25719106631007416,
+                    0.039881465463508896
+                ],
+                [
+                    -0.17142897833365095,
+                    -0.5131627373445641,
+                    0.8409970929726895
+                ],
+                [
+                    -0.19583125711875182,
+                    -0.8188508780060756,
+                    -0.5395677513750875
+                ]
+            ],
+            "translation_vector": [
+                0.630756290275426,
+                -0.25579326168874367,
+                0.46155139286760305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655453486879415,
+                    -0.2571519640971582,
+                    0.03993803936168782
+                ],
+                [
+                    -0.17144235889207987,
+                    -0.513106463415524,
+                    0.8410287003299786
+                ],
+                [
+                    -0.19577971601930846,
+                    -0.8188984213943677,
+                    -0.5395142984511269
+                ]
+            ],
+            "translation_vector": [
+                0.630760190188131,
+                -0.2558013532404459,
+                0.46157587838667175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965529995903384,
+                    -0.25721934301903515,
+                    0.03987526285390458
+                ],
+                [
+                    -0.1714394445811443,
+                    -0.5131612301618167,
+                    0.840995879122199
+                ],
+                [
+                    -0.19585796857039234,
+                    -0.81884294063982,
+                    -0.5395701017586243
+                ]
+            ],
+            "translation_vector": [
+                0.6307593802099863,
+                -0.2557918473481579,
+                0.46154754598020054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655310900976116,
+                    -0.2572102567431619,
+                    0.03990736625028645
+                ],
+                [
+                    -0.17145030359603966,
+                    -0.5131115204620654,
+                    0.8410239954757134
+                ],
+                [
+                    -0.19584306842914712,
+                    -0.8188769452092444,
+                    -0.5395239023000115
+                ]
+            ],
+            "translation_vector": [
+                0.6307633913274555,
+                -0.2557988351209611,
+                0.4615610082305662
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965544841495313,
+                    -0.2571602081537504,
+                    0.0398971979481134
+                ],
+                [
+                    -0.17142466881061386,
+                    -0.5131614736123009,
+                    0.8409987425217849
+                ],
+                [
+                    -0.19579770679188893,
+                    -0.818861361490681,
+                    -0.5395640172145154
+                ]
+            ],
+            "translation_vector": [
+                0.6307569168722262,
+                -0.2558018903351603,
+                0.4615712633665641
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655337746216837,
+                    -0.2572050724924426,
+                    0.03987581659303902
+                ],
+                [
+                    -0.17142457060413777,
+                    -0.5131312697480799,
+                    0.841017191619714
+                ],
+                [
+                    -0.19585235933731138,
+                    -0.8188661982832611,
+                    -0.5395368408655038
+                ]
+            ],
+            "translation_vector": [
+                0.6307574112337676,
+                -0.2557943269482261,
+                0.4615586634862391
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655320377333464,
+                    -0.2572086109710816,
+                    0.03989504421377434
+                ],
+                [
+                    -0.17144991864468126,
+                    -0.513158737340386,
+                    0.8409952649616722
+                ],
+                [
+                    -0.19583873341916902,
+                    -0.8188478739873164,
+                    -0.5395695967706372
+                ]
+            ],
+            "translation_vector": [
+                0.6307578805721071,
+                -0.2558010245518366,
+                0.46155694910701384
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655328295342688,
+                    -0.25720671823383434,
+                    0.03988808326969539
+                ],
+                [
+                    -0.17144613977880407,
+                    -0.513172830350972,
+                    0.8409874359017022
+                ],
+                [
+                    -0.1958381378753789,
+                    -0.8188396364887045,
+                    -0.5395823138952487
+                ]
+            ],
+            "translation_vector": [
+                0.6307594198681095,
+                -0.255796327515916,
+                0.4615457317604223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655333907365489,
+                    -0.25720004718190714,
+                    0.039917503709619676
+                ],
+                [
+                    -0.17144919642511142,
+                    -0.5130944672846445,
+                    0.8410346251415993
+                ],
+                [
+                    -0.19583269496681688,
+                    -0.8188908372741216,
+                    -0.5395065821753446
+                ]
+            ],
+            "translation_vector": [
+                0.630765275062795,
+                -0.2557969138498791,
+                0.4615644929566829
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655374581512443,
+                    -0.2571902890194297,
+                    0.03988197764576208
+                ],
+                [
+                    -0.17142897833296789,
+                    -0.5131627373417088,
+                    0.8409970929745711
+                ],
+                [
+                    -0.19583034058732998,
+                    -0.8188511221449642,
+                    -0.5395677135146095
+                ]
+            ],
+            "translation_vector": [
+                0.6307562019465829,
+                -0.255793261689068,
+                0.4615518672580895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655379221079621,
+                    -0.25718824778575766,
+                    0.03988390868922692
+                ],
+                [
+                    -0.17142264092744092,
+                    -0.513134103324478,
+                    0.8410158560828956
+                ],
+                [
+                    -0.1958336006636771,
+                    -0.8188697071001442,
+                    -0.5395383245375844
+                ]
+            ],
+            "translation_vector": [
+                0.6307562427033037,
+                -0.2557941521859033,
+                0.4615597460443642
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655335859277687,
+                    -0.25720485027413686,
+                    0.03988181842547827
+                ],
+                [
+                    -0.1714375142756578,
+                    -0.5131640639790201,
+                    0.8409945434659607
+                ],
+                [
+                    -0.19584195961143672,
+                    -0.8188457171140331,
+                    -0.5395716990535709
+                ]
+            ],
+            "translation_vector": [
+                0.6307584766795983,
+                -0.25579167257220764,
+                0.4615472053704442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655372722597352,
+                    -0.25719106631007416,
+                    0.039881465463508896
+                ],
+                [
+                    -0.17142897833365095,
+                    -0.5131627373445641,
+                    0.8409970929726895
+                ],
+                [
+                    -0.19583125711875182,
+                    -0.8188508780060756,
+                    -0.5395677513750875
+                ]
+            ],
+            "translation_vector": [
+                0.630756290275426,
+                -0.25579326168874367,
+                0.46155139286760305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655379674030297,
+                    -0.25718800794456476,
+                    0.039884358747925015
+                ],
+                [
+                    -0.1714194829977674,
+                    -0.5131198349410971,
+                    0.8410252052339454
+                ],
+                [
+                    -0.19583614158782015,
+                    -0.8188787233525661,
+                    -0.5395237178182878
+                ]
+            ],
+            "translation_vector": [
+                0.6307563513437492,
+                -0.2557945960167708,
+                0.4615631975903988
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96553054280864,
+                    -0.2572211165432929,
+                    0.03985057224023988
+                ],
+                [
+                    -0.17141989651452302,
+                    -0.5131651601505328,
+                    0.8409974658027386
+                ],
+                [
+                    -0.19587238187810696,
+                    -0.8188399206266752,
+                    -0.539569452809828
+                ]
+            ],
+            "translation_vector": [
+                0.6307550412730331,
+                -0.25579390718884654,
+                0.4615453364331872
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655368212533038,
+                    -0.25718911442357983,
+                    0.0399049649301995
+                ],
+                [
+                    -0.17144392595328886,
+                    -0.5131443359172476,
+                    0.8410052739250629
+                ],
+                [
+                    -0.19582039489743874,
+                    -0.8188630226955309,
+                    -0.539553262434905
+                ]
+            ],
+            "translation_vector": [
+                0.6307624247405919,
+                -0.2558042511347725,
+                0.46156833152959104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655318745333666,
+                    -0.2572051310636793,
+                    0.039921420498262764
+                ],
+                [
+                    -0.17146172497404769,
+                    -0.513120389899552,
+                    0.8410162556920385
+                ],
+                [
+                    -0.19582920142054303,
+                    -0.8188729974934134,
+                    -0.5395349273653607
+                ]
+            ],
+            "translation_vector": [
+                0.6307650687816073,
+                -0.25580070065203775,
+                0.4615607879518467
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655345413828085,
+                    -0.2571975131392037,
+                    0.03990599744021808
+                ],
+                [
+                    -0.17144489722713296,
+                    -0.5131244807133141,
+                    0.8410171903757198
+                ],
+                [
+                    -0.19583078565809675,
+                    -0.8188728268343631,
+                    -0.5395346113650463
+                ]
+            ],
+            "translation_vector": [
+                0.630761178899211,
+                -0.25579997249640724,
+                0.46156133184768666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965539735620978,
+                    -0.25718427205856764,
+                    0.03986563862120958
+                ],
+                [
+                    -0.1714122650550779,
+                    -0.5131668000333679,
+                    0.8409980206470175
+                ],
+                [
+                    -0.1958337415402666,
+                    -0.8188504659272156,
+                    -0.5395674750437817
+                ]
+            ],
+            "translation_vector": [
+                0.6307525145614278,
+                -0.2557925386438852,
+                0.4615513861264717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655358032494562,
+                    -0.25719763916340566,
+                    0.03987464171874652
+                ],
+                [
+                    -0.17141992039179416,
+                    -0.5131339424050727,
+                    0.8410165087824963
+                ],
+                [
+                    -0.1958464284491773,
+                    -0.8188668582624397,
+                    -0.5395379920849903
+                ]
+            ],
+            "translation_vector": [
+                0.6307557937374422,
+                -0.2557969400634834,
+                0.4615570688668108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655282373765448,
+                    -0.25722776724906926,
+                    0.03986349940234955
+                ],
+                [
+                    -0.17143467954041985,
+                    -0.5131639310304453,
+                    0.8409952024478224
+                ],
+                [
+                    -0.19587080813489277,
+                    -0.8188386017069781,
+                    -0.5395720256602866
+                ]
+            ],
+            "translation_vector": [
+                0.6307554495481977,
+                -0.2557944555482618,
+                0.4615396804336859
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965529935658234,
+                    -0.25721795577057477,
+                    0.039885668817427236
+                ],
+                [
+                    -0.17144708406815942,
+                    -0.5131586041420694,
+                    0.8409959241039688
+                ],
+                [
+                    -0.19585157827378444,
+                    -0.8188450221037982,
+                    -0.5395692625265992
+                ]
+            ],
+            "translation_vector": [
+                0.6307574057033706,
+                -0.2558038075442389,
+                0.46155427194384113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655383337834693,
+                    -0.2571814245525241,
+                    0.03991792654656007
+                ],
+                [
+                    -0.1714504277671922,
+                    -0.5131427690784901,
+                    0.8410049044808874
+                ],
+                [
+                    -0.1958072440260803,
+                    -0.8188664197581889,
+                    -0.539552879502387
+                ]
+            ],
+            "translation_vector": [
+                0.6307685151259774,
+                -0.2557932697803674,
+                0.4615591165148803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655214862176529,
+                    -0.2572504267685213,
+                    0.039880792111843935
+                ],
+                [
+                    -0.17146731932748313,
+                    -0.5131830421903835,
+                    0.840976886490271
+                ],
+                [
+                    -0.19587551673116618,
+                    -0.8188195058348554,
+                    -0.5395992946712048
+                ]
+            ],
+            "translation_vector": [
+                0.6307582053608798,
+                -0.25580640460395454,
+                0.46153849181038326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655483506244741,
+                    -0.25714515284274536,
+                    0.03990930938815125
+                ],
+                [
+                    -0.17142071095092576,
+                    -0.5131369366891427,
+                    0.8410145207202798
+                ],
+                [
+                    -0.19578386670876943,
+                    -0.8188814655215759,
+                    -0.5395385277825847
+                ]
+            ],
+            "translation_vector": [
+                0.6307602494383407,
+                -0.25579397732384707,
+                0.4615700133698033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655362758757647,
+                    -0.25719072558368783,
+                    0.03990777670700059
+                ],
+                [
+                    -0.17145598278011856,
+                    -0.51318064597687,
+                    0.8409806600413987
+                ],
+                [
+                    -0.19581252752789674,
+                    -0.8188397616557829,
+                    -0.539591418384909
+                ]
+            ],
+            "translation_vector": [
+                0.6307573511587559,
+                -0.25580403245411953,
+                0.4615569635021827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655395295999697,
+                    -0.25717865083978514,
+                    0.03990687073797442
+                ],
+                [
+                    -0.1714429708751251,
+                    -0.5131585134103591,
+                    0.8409968179797005
+                ],
+                [
+                    -0.19580787654581353,
+                    -0.8188574245048391,
+                    -0.5395663015940869
+                ]
+            ],
+            "translation_vector": [
+                0.6307645275660264,
+                -0.2557967725624407,
+                0.4615594067704025
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655404635658471,
+                    -0.25717265800672656,
+                    0.03992289056174305
+                ],
+                [
+                    -0.17144264511900567,
+                    -0.513113179340616,
+                    0.8410245446011454
+                ],
+                [
+                    -0.19580355627936988,
+                    -0.8188877146231469,
+                    -0.5395218977832424
+                ]
+            ],
+            "translation_vector": [
+                0.6307607704396642,
+                -0.25579745865685194,
+                0.46156759441790157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655330155750383,
+                    -0.25720574766042775,
+                    0.03988983836785393
+                ],
+                [
+                    -0.17145465879634225,
+                    -0.5132043879592232,
+                    0.840966441754027
+                ],
+                [
+                    -0.1958297623233073,
+                    -0.8188201631309769,
+                    -0.5396149040181872
+                ]
+            ],
+            "translation_vector": [
+                0.6307563524349248,
+                -0.255802297531751,
+                0.46154266377206093
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655386491335507,
+                    -0.25718651319550906,
+                    0.039877493147067906
+                ],
+                [
+                    -0.17141327015975957,
+                    -0.5131224492482859,
+                    0.8410248764992494
+                ],
+                [
+                    -0.1958382185440203,
+                    -0.8188775546489089,
+                    -0.539524737755117
+                ]
+            ],
+            "translation_vector": [
+                0.6307566936737706,
+                -0.25578992149284474,
+                0.46155810205512615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655363545935692,
+                    -0.25719257661832806,
+                    0.03989394052467968
+                ],
+                [
+                    -0.17143009801054498,
+                    -0.5131183586312518,
+                    0.8410239423058449
+                ],
+                [
+                    -0.19583480143798787,
+                    -0.8188782135140705,
+                    -0.539524978085119
+                ]
+            ],
+            "translation_vector": [
+                0.6307604069053022,
+                -0.25579064953393776,
+                0.46155858321662524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655352556673894,
+                    -0.25719586580660697,
+                    0.03989933176507119
+                ],
+                [
+                    -0.17143946872306684,
+                    -0.5131300126760412,
+                    0.8410149217790602
+                ],
+                [
+                    -0.19583201634886457,
+                    -0.8188698777602434,
+                    -0.539538640571426
+                ]
+            ],
+            "translation_vector": [
+                0.6307601326017018,
+                -0.2557948802506065,
+                0.4615592784362969
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655377873941857,
+                    -0.25718463907518546,
+                    0.039910431439751086
+                ],
+                [
+                    -0.17143520386502747,
+                    -0.5130986911043963,
+                    0.8410349006210812
+                ],
+                [
+                    -0.1958232672327193,
+                    -0.8188930300171824,
+                    -0.5395066759545994
+                ]
+            ],
+            "translation_vector": [
+                0.6307620366197705,
+                -0.2557934028461463,
+                0.4615666891153364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655328756380965,
+                    -0.2572064748110996,
+                    0.039888536915707644
+                ],
+                [
+                    -0.17144297112165666,
+                    -0.5131585135970668,
+                    0.8409968178155185
+                ],
+                [
+                    -0.19584068452445574,
+                    -0.8188486851904305,
+                    -0.5395676575248893
+                ]
+            ],
+            "translation_vector": [
+                0.6307595286132424,
+                -0.2557967726636909,
+                0.4615491967711293
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655359598853681,
+                    -0.2571995421859773,
+                    0.039858570816890024
+                ],
+                [
+                    -0.1714141953789517,
+                    -0.5131639666179886,
+                    0.8409993561159717
+                ],
+                [
+                    -0.1958506670676103,
+                    -0.8188474454159431,
+                    -0.5395659156627265
+                ]
+            ],
+            "translation_vector": [
+                0.6307535064222124,
+                -0.2557927133938821,
+                0.46155125235117284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655319206645708,
+                    -0.2572107304305648,
+                    0.039884211527375445
+                ],
+                [
+                    -0.1714413824340733,
+                    -0.5131574111195836,
+                    0.8409978143860666
+                ],
+                [
+                    -0.19584678339681474,
+                    -0.8188480393604313,
+                    -0.5395664239634441
+                ]
+            ],
+            "translation_vector": [
+                0.6307534070657846,
+                -0.255802613581548,
+                0.4615548658638413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655330255517808,
+                    -0.257203295345692,
+                    0.039905406051583645
+                ],
+                [
+                    -0.17144773241479286,
+                    -0.5131246139555306,
+                    0.841016531111496
+                ],
+                [
+                    -0.19583577716712192,
+                    -0.8188709272017813,
+                    -0.5395356827542039
+                ]
+            ],
+            "translation_vector": [
+                0.6307592784770247,
+                -0.2557971896453618,
+                0.46155821261722013
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655385671531528,
+                    -0.25718263692251686,
+                    0.03990446848935204
+                ],
+                [
+                    -0.1714438757795168,
+                    -0.5131614806261487,
+                    0.8409948229681777
+                ],
+                [
+                    -0.19581183007554584,
+                    -0.8188543130906498,
+                    -0.5395695887791546
+                ]
+            ],
+            "translation_vector": [
+                0.630759099979743,
+                -0.25579381496941583,
+                0.4615516097114858
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655420951958104,
+                    -0.25716726379822574,
+                    0.039918176754690914
+                ],
+                [
+                    -0.1714394684758546,
+                    -0.51313001248647,
+                    0.8410149219451172
+                ],
+                [
+                    -0.1957982917535325,
+                    -0.8188788608311786,
+                    -0.5395372463789962
+                ]
+            ],
+            "translation_vector": [
+                0.6307650428659718,
+                -0.2557948801496837,
+                0.4615698865610209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655388998210175,
+                    -0.257175751626159,
+                    0.03994077750794387
+                ],
+                [
+                    -0.17146172472615448,
+                    -0.5131203897071266,
+                    0.8410162558599796
+                ],
+                [
+                    -0.19579456041052662,
+                    -0.8188822250130519,
+                    -0.539533494485117
+                ]
+            ],
+            "translation_vector": [
+                0.6307698906388194,
+                -0.25580070055143894,
+                0.4615718706447137
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655418996681189,
+                    -0.2571724038113714,
+                    0.0398897819392525
+                ],
+                [
+                    -0.17141519933643318,
+                    -0.5131196156207054,
+                    0.841026212137119
+                ],
+                [
+                    -0.19582050306781226,
+                    -0.8188837614601603,
+                    -0.5395217472865468
+                ]
+            ],
+            "translation_vector": [
+                0.6307625074915392,
+                -0.25579009614668713,
+                0.46156905070327486
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655248526731287,
+                    -0.25723397345077886,
+                    0.039905410325636714
+                ],
+                [
+                    -0.17146365455282012,
+                    -0.5131175557912828,
+                    0.8410175914368089
+                ],
+                [
+                    -0.19586213017815507,
+                    -0.8188657135583979,
+                    -0.5395340296223878
+                ]
+            ],
+            "translation_vector": [
+                0.6307635086774032,
+                -0.2558008755063736,
+                0.46155588267228165
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655346074373499,
+                    -0.2572079091367769,
+                    0.0398373357328326
+                ],
+                [
+                    -0.1714033697059874,
+                    -0.5131759579923887,
+                    0.8409942455165951
+                ],
+                [
+                    -0.19586680855682378,
+                    -0.8188373022866521,
+                    -0.5395754494875419
+                ]
+            ],
+            "translation_vector": [
+                0.6307569094002812,
+                -0.2557892886889198,
+                0.4615465593445246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965535300954756,
+                    -0.25719562597277285,
+                    0.039899781837527966
+                ],
+                [
+                    -0.1714363108361573,
+                    -0.5131157442837712,
+                    0.8410242709309881
+                ],
+                [
+                    -0.19583455756606702,
+                    -0.8188788939449992,
+                    -0.539524033861623
+                ]
+            ],
+            "translation_vector": [
+                0.6307602412452402,
+                -0.2557953240825331,
+                0.46156265367735727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965533112103339,
+                    -0.2571968234510629,
+                    0.03994500517867133
+                ],
+                [
+                    -0.17148239578836097,
+                    -0.5131408628304082,
+                    0.8409995498383743
+                ],
+                [
+                    -0.1958049983190552,
+                    -0.8188627778207698,
+                    -0.5395592217105809
+                ]
+            ],
+            "translation_vector": [
+                0.6307702453321563,
+                -0.25580933676407086,
+                0.4615736021346773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655430370397211,
+                    -0.25717942400198673,
+                    0.039816924719507395
+                ],
+                [
+                    -0.17137371532984405,
+                    -0.5131946587861844,
+                    0.8409888773862458
+                ],
+                [
+                    -0.19585120198292932,
+                    -0.8188345291103318,
+                    -0.5395853228345854
+                ]
+            ],
+            "translation_vector": [
+                0.63074341577925,
+                -0.25578833058307826,
+                0.46154276477905604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965536113170497,
+                    -0.25718782244926597,
+                    0.03993041631906584
+                ],
+                [
+                    -0.17145346943317533,
+                    -0.513094638126197,
+                    0.8410336498294668
+                ],
+                [
+                    -0.19581553049473954,
+                    -0.8188945697157552,
+                    -0.5395071470398811
+                ]
+            ],
+            "translation_vector": [
+                0.6307641175482397,
+                -0.2558014151422403,
+                0.46156878700045917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655259427877507,
+                    -0.2572338306810945,
+                    0.03987994680231946
+                ],
+                [
+                    -0.17145150722797287,
+                    -0.5131598403593611,
+                    0.840994268061092
+                ],
+                [
+                    -0.19586739001957978,
+                    -0.818839260536209,
+                    -0.5395722666440824
+                ]
+            ],
+            "translation_vector": [
+                0.6307591627893632,
+                -0.25579518363151277,
+                0.46154023776251313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655319485970411,
+                    -0.2572100965144546,
+                    0.03988762326117704
+                ],
+                [
+                    -0.17144331248551878,
+                    -0.5131545771427528,
+                    0.8409991501550018
+                ],
+                [
+                    -0.19584495613212358,
+                    -0.8188500144766852,
+                    -0.5395640897512909
+                ]
+            ],
+            "translation_vector": [
+                0.6307566858790407,
+                -0.25580278831159753,
+                0.46156107919023087
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655430818413298,
+                    -0.25717529451316745,
+                    0.039842502436631365
+                ],
+                [
+                    -0.17138076445240968,
+                    -0.5131408926324408,
+                    0.8410202482010107
+                ],
+                [
+                    -0.1958448127575888,
+                    -0.8188695208642508,
+                    -0.5395345374630779
+                ]
+            ],
+            "translation_vector": [
+                0.6307440614283364,
+                -0.2557942924939416,
+                0.46155866012298874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655386958126819,
+                    -0.2571840396580595,
+                    0.039892312962615056
+                ],
+                [
+                    -0.17143467916848543,
+                    -0.5131639307429302,
+                    0.8409952026990782
+                ],
+                [
+                    -0.19581924743687482,
+                    -0.8188523370728248,
+                    -0.5395698957536728
+                ]
+            ],
+            "translation_vector": [
+                0.6307627358794291,
+                -0.2557944553970234,
+                0.4615561612330053
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655327096398101,
+                    -0.25720153785127736,
+                    0.03992437278836677
+                ],
+                [
+                    -0.1714553983518165,
+                    -0.5130918040480729,
+                    0.8410349855949598
+                ],
+                [
+                    -0.19583062322227962,
+                    -0.818892037783756,
+                    -0.5395055119855047
+                ]
+            ],
+            "translation_vector": [
+                0.6307649327123619,
+                -0.25580158993994817,
+                0.46156960204159303
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965539756127291,
+                    -0.25718837330866084,
+                    0.039838674331565016
+                ],
+                [
+                    -0.1714023267159484,
+                    -0.5132136024534866,
+                    0.840971486230701
+                ],
+                [
+                    -0.19584233897196712,
+                    -0.8188198451989056,
+                    -0.5396108221435422
+                ]
+            ],
+            "translation_vector": [
+                0.6307480519346055,
+                -0.25579326984860673,
+                0.4615378462140839
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655288412831453,
+                    -0.25721713225082093,
+                    0.03991745892576702
+                ],
+                [
+                    -0.17147519880056641,
+                    -0.5131623575116797,
+                    0.8409879018329346
+                ],
+                [
+                    -0.19583235903887997,
+                    -0.8188429285948062,
+                    -0.5395794153260004
+                ]
+            ],
+            "translation_vector": [
+                0.6307546953894319,
+                -0.25581951613085757,
+                0.4615637020159659
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655464160728987,
+                    -0.25715049919043226,
+                    0.03992166297754655
+                ],
+                [
+                    -0.17143009764083306,
+                    -0.5131183583500665,
+                    0.8410239425527597
+                ],
+                [
+                    -0.19578518848890425,
+                    -0.8188914281455415,
+                    -0.5395229271107206
+                ]
+            ],
+            "translation_vector": [
+                0.630767852170788,
+                -0.25579064938240165,
+                0.461574002978027
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965531872452335,
+                    -0.2572150771697947,
+                    0.039857337533073814
+                ],
+                [
+                    -0.17142578586930493,
+                    -0.5131796376945782,
+                    0.8409874311752544
+                ],
+                [
+                    -0.19586067297387713,
+                    -0.8188327445407875,
+                    -0.5395845932289226
+                ]
+            ],
+            "translation_vector": [
+                0.6307557348373167,
+                -0.2557906741740909,
+                0.4615426510444239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655188094392375,
+                    -0.25726357564286023,
+                    0.03986077353097825
+                ],
+                [
+                    -0.1714392637011773,
+                    -0.5131071099608543,
+                    0.8410289368203795
+                ],
+                [
+                    -0.19591326519823968,
+                    -0.8188629594474708,
+                    -0.539519643909556
+                ]
+            ],
+            "translation_vector": [
+                0.6307601017042029,
+                -0.2557986313823851,
+                0.46155535422924776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655349172595864,
+                    -0.25719574191032357,
+                    0.039908318628104546
+                ],
+                [
+                    -0.17145344518550484,
+                    -0.5131560210912024,
+                    0.8409962034110896
+                ],
+                [
+                    -0.1958214484844426,
+                    -0.818853618396502,
+                    -0.5395671524031195
+                ]
+            ],
+            "translation_vector": [
+                0.6307580288612884,
+                -0.2558059498318547,
+                0.4615586000550821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965536917014784,
+                    -0.25719098955390335,
+                    0.03989055995934651
+                ],
+                [
+                    -0.17144306869401477,
+                    -0.5131887171544496,
+                    0.8409783676065336
+                ],
+                [
+                    -0.19582067326604094,
+                    -0.8188346203462911,
+                    -0.5395962642976506
+                ]
+            ],
+            "translation_vector": [
+                0.6307542123487656,
+                -0.2558043364501646,
+                0.46155071451233765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655384466373541,
+                    -0.25718855589713097,
+                    0.03986922096898851
+                ],
+                [
+                    -0.17141308807009986,
+                    -0.5131469140562244,
+                    0.8410099867616595
+                ],
+                [
+                    -0.19583937628423417,
+                    -0.8188615825095978,
+                    -0.5395485588772152
+                ]
+            ],
+            "translation_vector": [
+                0.6307553019825615,
+                -0.2557907919002279,
+                0.4615552114476874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655272073872878,
+                    -0.25722410241503024,
+                    0.039912064989019655
+                ],
+                [
+                    -0.17146542956124278,
+                    -0.5131244278792075,
+                    0.8410130367473592
+                ],
+                [
+                    -0.1958489679837097,
+                    -0.8188645081149986,
+                    -0.5395406371065092
+                ]
+            ],
+            "translation_vector": [
+                0.6307629550497215,
+                -0.2558017037272255,
+                0.4615506614471815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655339772678854,
+                    -0.2572026632342562,
+                    0.039886448406253654
+                ],
+                [
+                    -0.17143866213388465,
+                    -0.5131572498985894,
+                    0.8409984673007799
+                ],
+                [
+                    -0.1958390253933131,
+                    -0.8188506743611579,
+                    -0.539565240940588
+                ]
+            ],
+            "translation_vector": [
+                0.630755068350921,
+                -0.25580540147447106,
+                0.46155940835816694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655373011185536,
+                    -0.25718838596595145,
+                    0.039898048485214374
+                ],
+                [
+                    -0.1714347040551745,
+                    -0.5131327133689373,
+                    0.8410142452516169
+                ],
+                [
+                    -0.19582610243329257,
+                    -0.8188705346969453,
+                    -0.5395397900163849
+                ]
+            ],
+            "translation_vector": [
+                0.6307584892489229,
+                -0.25579748839071365,
+                0.46155768371747136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655427495314872,
+                    -0.25716544773339295,
+                    0.039914049146377396
+                ],
+                [
+                    -0.17144138206078327,
+                    -0.5131574108263479,
+                    0.8409978146410889
+                ],
+                [
+                    -0.19579338942943006,
+                    -0.8188622620478261,
+                    -0.5395642171694239
+                ]
+            ],
+            "translation_vector": [
+                0.6307605158804648,
+                -0.2558026134309662,
+                0.4615722190377316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655282653536762,
+                    -0.25722713346097753,
+                    0.03986691127451499
+                ],
+                [
+                    -0.17143660971423527,
+                    -0.5131610971600424,
+                    0.8409965381683752
+                ],
+                [
+                    -0.19586898083364448,
+                    -0.8188405767748387,
+                    -0.539569691674986
+                ]
+            ],
+            "translation_vector": [
+                0.6307587286575972,
+                -0.25579463027105676,
+                0.46154581748500345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655285683773683,
+                    -0.2572183398382484,
+                    0.03991627860917396
+                ],
+                [
+                    -0.17147854020078424,
+                    -0.5131777295790076,
+                    0.8409778404421507
+                ],
+                [
+                    -0.19583077872938626,
+                    -0.8188329155053495,
+                    -0.5395951839918995
+                ]
+            ],
+            "translation_vector": [
+                0.6307626047863508,
+                -0.25580596254528487,
+                0.4615516193489581
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655318518120081,
+                    -0.25720958124641646,
+                    0.03989328830163511
+                ],
+                [
+                    -0.17144139833918598,
+                    -0.5131271788221233,
+                    0.8410162574466402
+                ],
+                [
+                    -0.195847108919123,
+                    -0.8188673455872396,
+                    -0.5395370054583183
+                ]
+            ],
+            "translation_vector": [
+                0.6307609477845517,
+                -0.25579505503148336,
+                0.46156009345288185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655303074789608,
+                    -0.2572164012001721,
+                    0.0398866931847668
+                ],
+                [
+                    -0.17144708406679365,
+                    -0.513158604136359,
+                    0.8409959241077317
+                ],
+                [
+                    -0.1958497452246937,
+                    -0.818845510431886,
+                    -0.539569186797177
+                ]
+            ],
+            "translation_vector": [
+                0.6307572290397683,
+                -0.25580380754488785,
+                0.46155522072684735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655409542140443,
+                    -0.25717405022345635,
+                    0.03990205041218352
+                ],
+                [
+                    -0.17143676872079366,
+                    -0.5131611766835484,
+                    0.8409964572311405
+                ],
+                [
+                    -0.19580628198810773,
+                    -0.818857200393585,
+                    -0.5395672203697834
+                ]
+            ],
+            "translation_vector": [
+                0.6307645166169821,
+                -0.2557920964748728,
+                0.4615561190330476
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655330392587951,
+                    -0.2572000104946831,
+                    0.03992624075979717
+                ],
+                [
+                    -0.17146711535419043,
+                    -0.5131376624056806,
+                    0.8410046181638641
+                ],
+                [
+                    -0.19581873876569403,
+                    -0.8188637823364575,
+                    -0.5395527106093011
+                ]
+            ],
+            "translation_vector": [
+                0.6307616740564197,
+                -0.25580712169389547,
+                0.4615634815577832
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655372334270106,
+                    -0.2571980597494364,
+                    0.03983728062054245
+                ],
+                [
+                    -0.17140328178066916,
+                    -0.51319942549572,
+                    0.8409799430816882
+                ],
+                [
+                    -0.1958539401210275,
+                    -0.8188256882462767,
+                    -0.5395977449981427
+                ]
+            ],
+            "translation_vector": [
+                0.6307458609770196,
+                -0.255800748184053,
+                0.4615473218886629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655317447159084,
+                    -0.25720843990541037,
+                    0.03990323780446088
+                ],
+                [
+                    -0.17145221747868264,
+                    -0.51313891895613,
+                    0.8410068887792639
+                ],
+                [
+                    -0.19583816550278685,
+                    -0.8188603472472944,
+                    -0.5395508730773623
+                ]
+            ],
+            "translation_vector": [
+                0.6307588643671913,
+                -0.25580656833122006,
+                0.46156334102905067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655281842254694,
+                    -0.2572201757870557,
+                    0.03991373991928904
+                ],
+                [
+                    -0.1714730090998878,
+                    -0.5131594421100995,
+                    0.8409901272449525
+                ],
+                [
+                    -0.19583751585561496,
+                    -0.8188437995987561,
+                    -0.5395762219021276
+                ]
+            ],
+            "translation_vector": [
+                0.6307577154772445,
+                -0.2558126645431318,
+                0.4615590448469108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655332474381416,
+                    -0.2572049202337425,
+                    0.039889561279999874
+                ],
+                [
+                    -0.17144297112029067,
+                    -0.5131585135913563,
+                    0.8409968178192812
+                ],
+                [
+                    -0.19583885146978328,
+                    -0.8188491734967217,
+                    -0.5395675817900221
+                ]
+            ],
+            "translation_vector": [
+                0.6307593519592752,
+                -0.25579677266433976,
+                0.46155022185211136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965538371118669,
+                    -0.25718777691201766,
+                    0.03987607433740097
+                ],
+                [
+                    -0.17141960762053768,
+                    -0.5131510835776575,
+                    0.8410061138578583
+                ],
+                [
+                    -0.19583404203745716,
+                    -0.818859214291523,
+                    -0.5395540891784077
+                ]
+            ],
+            "translation_vector": [
+                0.6307565645686498,
+                -0.2557890308686033,
+                0.461550621380281
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655277986740763,
+                    -0.2572240690647606,
+                    0.03989797339915477
+                ],
+                [
+                    -0.17145346160384645,
+                    -0.5131257889370024,
+                    0.8410146462647589
+                ],
+                [
+                    -0.19585653037785264,
+                    -0.8188636657109329,
+                    -0.5395391704842226
+                ]
+            ],
+            "translation_vector": [
+                0.6307607306437468,
+                -0.25579839133745974,
+                0.46155263264037993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655337114590289,
+                    -0.25720287874372905,
+                    0.03989149285363341
+                ],
+                [
+                    -0.17143663371968348,
+                    -0.513129879593354,
+                    0.841015580882645
+                ],
+                [
+                    -0.19584211154656161,
+                    -0.8188677584533711,
+                    -0.5395381928191325
+                ]
+            ],
+            "translation_vector": [
+                0.6307593927716394,
+                -0.2557976631662608,
+                0.4615579480496327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655330615385539,
+                    -0.25720569752253675,
+                    0.03988904909787162
+                ],
+                [
+                    -0.17144297112097343,
+                    -0.5131585135942115,
+                    0.8409968178173995
+                ],
+                [
+                    -0.19583976799720768,
+                    -0.8188489293439447,
+                    -0.5395676196576988
+                ]
+            ],
+            "translation_vector": [
+                0.6307594402864838,
+                -0.2557967726640153,
+                0.4615496711646897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655356274509779,
+                    -0.2571943111890162,
+                    0.03990035607427486
+                ],
+                [
+                    -0.1714394687217011,
+                    -0.5131300126703308,
+                    0.8410149217828227
+                ],
+                [
+                    -0.1958301832896739,
+                    -0.8188703660463932,
+                    -0.5395385648160649
+                ]
+            ],
+            "translation_vector": [
+                0.6307599559285947,
+                -0.2557948802512554,
+                0.4615602272244802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655315134522325,
+                    -0.25720945737434947,
+                    0.039902275221270184
+                ],
+                [
+                    -0.17145537535084393,
+                    -0.5131531870188603,
+                    0.8409975391852748
+                ],
+                [
+                    -0.19583654100790923,
+                    -0.8188510863945772,
+                    -0.5395655173530627
+                ]
+            ],
+            "translation_vector": [
+                0.6307588440447595,
+                -0.25580612462478847,
+                0.4615594150784834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655403654693894,
+                    -0.2571750541243306,
+                    0.03990982567471111
+                ],
+                [
+                    -0.17143663347315155,
+                    -0.5131298794066408,
+                    0.8410155810468191
+                ],
+                [
+                    -0.19580930353951653,
+                    -0.8188764976455692,
+                    -0.5395368367879023
+                ]
+            ],
+            "translation_vector": [
+                0.6307643914374711,
+                -0.25579766306501295,
+                0.46156815805977824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655328080259659,
+                    -0.25720102796873556,
+                    0.039925278174600676
+                ],
+                [
+                    -0.17147027288904196,
+                    -0.5131519305259093,
+                    0.8409952685436998
+                ],
+                [
+                    -0.19581711401420215,
+                    -0.8188545215173194,
+                    -0.5395673548777677
+                ]
+            ],
+            "translation_vector": [
+                0.6307616537343215,
+                -0.25580667798433,
+                0.4615594793189422
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655284408913739,
+                    -0.2572163312959883,
+                    0.0399323020186049
+                ],
+                [
+                    -0.17148417070200986,
+                    -0.5131477351623288,
+                    0.8409949946916547
+                ],
+                [
+                    -0.19582647683221138,
+                    -0.8188523437179652,
+                    -0.5395672619415289
+                ]
+            ],
+            "translation_vector": [
+                0.6307648699863043,
+                -0.25581016527867523,
+                0.46155729822018177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655370189079404,
+                    -0.25718639703751633,
+                    0.039917694036961986
+                ],
+                [
+                    -0.17145627981688952,
+                    -0.5131561544046385,
+                    0.8409955441665523
+                ],
+                [
+                    -0.19580860356409266,
+                    -0.8188564699478803,
+                    -0.5395674864136795
+                ]
+            ],
+            "translation_vector": [
+                0.6307585037191777,
+                -0.25580316684998006,
+                0.4615612772249156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9659209221321872,
+                    -0.25560634890847866,
+                    0.04076967727346135
+                ],
+                [
+                    -0.17138390532446046,
+                    -0.5135445540903745,
+                    0.8407731846103648
+                ],
+                [
+                    -0.19396991824260146,
+                    -0.819107676292803,
+                    -0.5398502435445991
+                ]
+            ],
+            "translation_vector": [
+                0.6306788818633163,
+                -0.25577655707230074,
+                0.4615205864249916
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9669548369737139,
+                    -0.2511106516910721,
+                    0.04406567667043564
+                ],
+                [
+                    -0.17212218129895307,
+                    -0.5154867020724457,
+                    0.8394327934333777
+                ],
+                [
+                    -0.18807524546847904,
+                    -0.8192782803136909,
+                    -0.5416740730810482
+                ]
+            ],
+            "translation_vector": [
+                0.630770875243831,
+                -0.25521815403322134,
+                0.4606062266277429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9674746704915929,
+                    -0.24812959422529532,
+                    0.04923887109565418
+                ],
+                [
+                    -0.17598639685036024,
+                    -0.5203640119021534,
+                    0.8356135968500772
+                ],
+                [
+                    -0.18171832621068157,
+                    -0.8171003607799264,
+                    -0.5471064341903709
+                ]
+            ],
+            "translation_vector": [
+                0.632050957024537,
+                -0.25301254872085316,
+                0.4571543378886844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9685443043182896,
+                    -0.2432433715046523,
+                    0.052484214690226405
+                ],
+                [
+                    -0.17771385304184514,
+                    -0.5285058245962457,
+                    0.8301200996270742
+                ],
+                [
+                    -0.1741829986239229,
+                    -0.8133352664104095,
+                    -0.5551090229887156
+                ]
+            ],
+            "translation_vector": [
+                0.6337064079289338,
+                -0.24857744442710916,
+                0.4513588844531481
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9697254528930286,
+                    -0.2378674946187581,
+                    0.055241298094864236
+                ],
+                [
+                    -0.1798526391749093,
+                    -0.5426729525411641,
+                    0.8204627320982197
+                ],
+                [
+                    -0.16518345617291824,
+                    -0.805558887719607,
+                    -0.5690248713568845
+                ]
+            ],
+            "translation_vector": [
+                0.6356122098449322,
+                -0.24405707848132616,
+                0.44493463743392336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9700926420666471,
+                    -0.23526869867274003,
+                    0.05974031497228193
+                ],
+                [
+                    -0.18419478333213365,
+                    -0.5532028410774057,
+                    0.8124277804316608
+                ],
+                [
+                    -0.15809031469821394,
+                    -0.7991340663798047,
+                    -0.5799932726764144
+                ]
+            ],
+            "translation_vector": [
+                0.6377990286239187,
+                -0.24110940202057168,
+                0.4402447717518655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.971169349685419,
+                    -0.22872888573461644,
+                    0.06718028775020755
+                ],
+                [
+                    -0.1893490689214076,
+                    -0.5689051987689593,
+                    0.800308568561056
+                ],
+                [
+                    -0.1448344721749486,
+                    -0.7899556770124835,
+                    -0.5958128934703851
+                ]
+            ],
+            "translation_vector": [
+                0.6413731763972109,
+                -0.23584524038017166,
+                0.4325406050531792
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.972482573689041,
+                    -0.2217092202979313,
+                    0.07157279864601136
+                ],
+                [
+                    -0.19143393943763592,
+                    -0.5853473770954082,
+                    0.7878588039483431
+                ],
+                [
+                    -0.1327806111694272,
+                    -0.7798804201686369,
+                    -0.6116827932311519
+                ]
+            ],
+            "translation_vector": [
+                0.6437826008196028,
+                -0.23179646049948902,
+                0.4260321488059714
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9731768770910796,
+                    -0.2175790043335874,
+                    0.07474050286463389
+                ],
+                [
+                    -0.19348788192617206,
+                    -0.5983324188506692,
+                    0.7775350513642655
+                ],
+                [
+                    -0.12445563644518974,
+                    -0.7711405147089031,
+                    -0.6243821755395574
+                ]
+            ],
+            "translation_vector": [
+                0.64600651758104,
+                -0.22825239844028689,
+                0.4204547903160761
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9752350448573214,
+                    -0.20523732818349552,
+                    0.08242721881901884
+                ],
+                [
+                    -0.19491636431753082,
+                    -0.6214291259660747,
+                    0.7588369075910026
+                ],
+                [
+                    -0.10451898489448629,
+                    -0.7561107594269112,
+                    -0.6460435753689417
+                ]
+            ],
+            "translation_vector": [
+                0.6489873594508453,
+                -0.22247939016668863,
+                0.41098613479641377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9769796923590023,
+                    -0.19616147297410427,
+                    0.08385318860209698
+                ],
+                [
+                    -0.19338587019414463,
+                    -0.6483958652410646,
+                    0.7363319272906376
+                ],
+                [
+                    -0.09006989467831371,
+                    -0.7355973616448885,
+                    -0.6714044500997269
+                ]
+            ],
+            "translation_vector": [
+                0.6506922688968093,
+                -0.2170931554830272,
+                0.39986888214929134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.977483699336399,
+                    -0.19303966092429706,
+                    0.08521330202415994
+                ],
+                [
+                    -0.19429316455430126,
+                    -0.6658512509949768,
+                    0.7203417784329182
+                ],
+                [
+                    -0.0823151489040959,
+                    -0.7206787084815651,
+                    -0.68836503063581
+                ]
+            ],
+            "translation_vector": [
+                0.6532364669324496,
+                -0.21208964329534452,
+                0.3911806785480284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9769303118094561,
+                    -0.19329892162795284,
+                    0.09078927670903307
+                ],
+                [
+                    -0.20004051944028728,
+                    -0.6794328702539014,
+                    0.7059424660697253
+                ],
+                [
+                    -0.0747726985599616,
+                    -0.7078181275695161,
+                    -0.7024261824804406
+                ]
+            ],
+            "translation_vector": [
+                0.6564015752750676,
+                -0.2087547255549749,
+                0.38328246044905634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9769022384905213,
+                    -0.1902821080485571,
+                    0.09723546569439508
+                ],
+                [
+                    -0.2038469283450909,
+                    -0.6933548390270163,
+                    0.6911624244720568
+                ],
+                [
+                    -0.06409716246824032,
+                    -0.6950192706352951,
+                    -0.7161283175584544
+                ]
+            ],
+            "translation_vector": [
+                0.6595107062422727,
+                -0.20463907698068107,
+                0.37474289298137614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.976113050841576,
+                    -0.19163453839246694,
+                    0.10236950557591344
+                ],
+                [
+                    -0.20921523677210851,
+                    -0.7020221186510657,
+                    0.6807304382992284
+                ],
+                [
+                    -0.05858580612350938,
+                    -0.6858871252762915,
+                    -0.7253458173182523
+                ]
+            ],
+            "translation_vector": [
+                0.6620548803387201,
+                -0.20231525502887826,
+                0.36861432590200705
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9752213188292312,
+                    -0.1922382751236433,
+                    0.10948892582567986
+                ],
+                [
+                    -0.21540131109628963,
+                    -0.7122132820453003,
+                    0.668097684516464
+                ],
+                [
+                    -0.05045447927562314,
+                    -0.6751271631742776,
+                    -0.735973952708435
+                ]
+            ],
+            "translation_vector": [
+                0.6655931479092991,
+                -0.1975523974898979,
+                0.3590953226239305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9737137685951817,
+                    -0.1953571693834735,
+                    0.11711990957410286
+                ],
+                [
+                    -0.223521937214385,
+                    -0.7206344284569732,
+                    0.6562956377322801
+                ],
+                [
+                    -0.043811418969233795,
+                    -0.6652229678032535,
+                    -0.7453582780615868
+                ]
+            ],
+            "translation_vector": [
+                0.6685950871917433,
+                -0.1953066322993004,
+                0.35180453378909704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9725986055516136,
+                    -0.1977107552404131,
+                    0.12232092928572214
+                ],
+                [
+                    -0.2290728886371107,
+                    -0.7250570365006356,
+                    0.6494750999941156
+                ],
+                [
+                    -0.03971856203976981,
+                    -0.6596989852070276,
+                    -0.7504796364634495
+                ]
+            ],
+            "translation_vector": [
+                0.6710981877388488,
+                -0.19212901633445867,
+                0.3459123307937211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9708672784743616,
+                    -0.20189680192876316,
+                    0.1290519622428282
+                ],
+                [
+                    -0.237249294013819,
+                    -0.7344068328036021,
+                    0.6358925824550298
+                ],
+                [
+                    -0.03360803591004741,
+                    -0.6479847878633573,
+                    -0.7609114367782556
+                ]
+            ],
+            "translation_vector": [
+                0.6742071009239259,
+                -0.18857864772314623,
+                0.3362169922321281
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9703127572897707,
+                    -0.2033701623169734,
+                    0.13089587510647968
+                ],
+                [
+                    -0.2399203648729418,
+                    -0.7411020281027563,
+                    0.6270614024648755
+                ],
+                [
+                    -0.030518380690293626,
+                    -0.6398502645315937,
+                    -0.7678933958687838
+                ]
+            ],
+            "translation_vector": [
+                0.6754967255335966,
+                -0.18584167127528184,
+                0.3296889708362388
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9696132432472858,
+                    -0.20634907701657007,
+                    0.13141619738026716
+                ],
+                [
+                    -0.2430283533751214,
+                    -0.7508292329892265,
+                    0.614160143891304
+                ],
+                [
+                    -0.028060256150947604,
+                    -0.6274356710478134,
+                    -0.7781626441313688
+                ]
+            ],
+            "translation_vector": [
+                0.6770626234061694,
+                -0.1819740947523887,
+                0.320598493090068
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9687191470566437,
+                    -0.20965300440771428,
+                    0.13277361134151577
+                ],
+                [
+                    -0.24684861193471838,
+                    -0.7591561870175462,
+                    0.602285353050266
+                ],
+                [
+                    -0.025475025255174363,
+                    -0.616220335152776,
+                    -0.787161687096399
+                ]
+            ],
+            "translation_vector": [
+                0.6786180501457412,
+                -0.1786672839096865,
+                0.3117471548594444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.967991400506221,
+                    -0.21121629653312268,
+                    0.13557405586924534
+                ],
+                [
+                    -0.2500672135163516,
+                    -0.7655327691579288,
+                    0.592811916268188
+                ],
+                [
+                    -0.021425155079315285,
+                    -0.607739463441552,
+                    -0.7938474080738702
+                ]
+            ],
+            "translation_vector": [
+                0.6801012684690918,
+                -0.17586051752459445,
+                0.3053104697304365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9667886799949602,
+                    -0.215453313456536,
+                    0.13747551765388075
+                ],
+                [
+                    -0.2547810441989475,
+                    -0.7700496009523523,
+                    0.5849018991164391
+                ],
+                [
+                    -0.02015608470156845,
+                    -0.600502690912974,
+                    -0.7993686574139498
+                ]
+            ],
+            "translation_vector": [
+                0.6818231909803589,
+                -0.17274085492174207,
+                0.2987603639113358
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662373843885659,
+                    -0.2168043503989136,
+                    0.13921634479488196
+                ],
+                [
+                    -0.2569875289915883,
+                    -0.7721225397499364,
+                    0.5811920453283108
+                ],
+                [
+                    -0.018512886126693155,
+                    -0.5973463461495457,
+                    -0.8017696775190783
+                ]
+            ],
+            "translation_vector": [
+                0.6832218749069532,
+                -0.16885920604782811,
+                0.29371130231137826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662416183504435,
+                    -0.21547386669116153,
+                    0.14123791183912043
+                ],
+                [
+                    -0.25722102371490163,
+                    -0.7756424291221534,
+                    0.5763819628549655
+                ],
+                [
+                    -0.014645133204364868,
+                    -0.5932536008476008,
+                    -0.8048824045503676
+                ]
+            ],
+            "translation_vector": [
+                0.6839940057089037,
+                -0.16590960185221204,
+                0.28949267150821434
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9670126302645912,
+                    -0.21309460045182982,
+                    0.1395609693540154
+                ],
+                [
+                    -0.25443496758642004,
+                    -0.7817368608905193,
+                    0.5693420128484585
+                ],
+                [
+                    -0.012223754662736928,
+                    -0.5860701080786428,
+                    -0.8101681357833282
+                ]
+            ],
+            "translation_vector": [
+                0.6844593177042275,
+                -0.16025534461262092,
+                0.28264628257579055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9680493647570272,
+                    -0.21061886334120647,
+                    0.1360886541867998
+                ],
+                [
+                    -0.2504807047390697,
+                    -0.7865889578391466,
+                    0.5643910239886389
+                ],
+                [
+                    -0.011825563281939847,
+                    -0.5804459542544712,
+                    -0.814212902282125
+                ]
+            ],
+            "translation_vector": [
+                0.6843030247208847,
+                -0.15628682251638895,
+                0.2778894820497769
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9686990173218808,
+                    -0.20999876176748475,
+                    0.13237346371439418
+                ],
+                [
+                    -0.24788286582092073,
+                    -0.7897817091875685,
+                    0.5610694579685929
+                ],
+                [
+                    -0.013277751015525476,
+                    -0.5763205461276618,
+                    -0.8171158604745618
+                ]
+            ],
+            "translation_vector": [
+                0.6842129118038204,
+                -0.1532208499080336,
+                0.27396840350206125
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9685805820522662,
+                    -0.211940267638588,
+                    0.1301267805817742
+                ],
+                [
+                    -0.24816699331044265,
+                    -0.7894132375993014,
+                    0.5614622727612639
+                ],
+                [
+                    -0.01627266120055979,
+                    -0.5761146268376398,
+                    -0.8172069121349741
+                ]
+            ],
+            "translation_vector": [
+                0.6847172267585808,
+                -0.15074403884072327,
+                0.27123593099210874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9687043234390866,
+                    -0.21164914221700298,
+                    0.12967873514662304
+                ],
+                [
+                    -0.24767193258462902,
+                    -0.7895556127326235,
+                    0.5614806748341447
+                ],
+                [
+                    -0.016448330012987167,
+                    -0.5760265401882263,
+                    -0.8172654877324537
+                ]
+            ],
+            "translation_vector": [
+                0.6846925943575531,
+                -0.1500912237563563,
+                0.269856673755142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9688518011022536,
+                    -0.2126187576140065,
+                    0.1269624015667461
+                ],
+                [
+                    -0.24690535735705219,
+                    -0.7898659989590193,
+                    0.5613817312639028
+                ],
+                [
+                    -0.019077002104776853,
+                    -0.5752433985706805,
+                    -0.8177598060503752
+                ]
+            ],
+            "translation_vector": [
+                0.6842477208170187,
+                -0.14977024300413566,
+                0.26844429062361264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9682305401351797,
+                    -0.21642630801977822,
+                    0.1252568335320122
+                ],
+                [
+                    -0.24904017515534352,
+                    -0.7894124574057986,
+                    0.561076610857318
+                ],
+                [
+                    -0.02255243463872422,
+                    -0.574445493749813,
+                    -0.8182320956809258
+                ]
+            ],
+            "translation_vector": [
+                0.684216382352691,
+                -0.15025967683118047,
+                0.2671779238261441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9680012721249275,
+                    -0.2176278579763945,
+                    0.12494659898183823
+                ],
+                [
+                    -0.2498219668288018,
+                    -0.7886658588419411,
+                    0.5617785577849093
+                ],
+                [
+                    -0.023717547392406873,
+                    -0.5750167636945117,
+                    -0.8177977741568996
+                ]
+            ],
+            "translation_vector": [
+                0.6841771374720018,
+                -0.15057536370041968,
+                0.2668608407890019
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9677376312182598,
+                    -0.21888771549560104,
+                    0.1247880007420106
+                ],
+                [
+                    -0.25073713202153225,
+                    -0.7878938454475837,
+                    0.5624537127012638
+                ],
+                [
+                    -0.024794510474860153,
+                    -0.5755966090161893,
+                    -0.8173578016630025
+                ]
+            ],
+            "translation_vector": [
+                0.6841824301649451,
+                -0.15085224784154283,
+                0.26668735751227657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9672643101906518,
+                    -0.2210410786414563,
+                    0.12466192596147584
+                ],
+                [
+                    -0.2523793513535005,
+                    -0.7865149498942563,
+                    0.5636478480427494
+                ],
+                [
+                    -0.026540859853993203,
+                    -0.5766585429401504,
+                    -0.8165540445141116
+                ]
+            ],
+            "translation_vector": [
+                0.6841225494570105,
+                -0.1512523602658083,
+                0.26644274305822047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9670111410782009,
+                    -0.22241285256283438,
+                    0.1241852489046076
+                ],
+                [
+                    -0.2531861747969296,
+                    -0.7855221443961593,
+                    0.5646695684689926
+                ],
+                [
+                    -0.028039506456695257,
+                    -0.5774837518736977,
+                    -0.8159205245607827
+                ]
+            ],
+            "translation_vector": [
+                0.6840646671679276,
+                -0.15135016472176346,
+                0.2664432820618297
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9666891824916989,
+                    -0.22420212764262162,
+                    0.12347238725339574
+                ],
+                [
+                    -0.2541645637216754,
+                    -0.7839239435980317,
+                    0.566448254655163
+                ],
+                [
+                    -0.03020594315199177,
+                    -0.5789617056543823,
+                    -0.8147950321302084
+                ]
+            ],
+            "translation_vector": [
+                0.6840355954829797,
+                -0.15140757737037586,
+                0.2666173719796991
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9666336588556228,
+                    -0.2249259707890574,
+                    0.12258742689196014
+                ],
+                [
+                    -0.25419630546531496,
+                    -0.7830626431582971,
+                    0.5676241143377597
+                ],
+                [
+                    -0.03167977044070673,
+                    -0.5798458455094266,
+                    -0.8141100586470373
+                ]
+            ],
+            "translation_vector": [
+                0.683919291666781,
+                -0.1511459657533398,
+                0.26655966718667007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9665685905887215,
+                    -0.22551123449863136,
+                    0.12202394356123804
+                ],
+                [
+                    -0.2543219709097047,
+                    -0.7825974216184783,
+                    0.5682091259287491
+                ],
+                [
+                    -0.0326419178348368,
+                    -0.5802464638332687,
+                    -0.8137865484321124
+                ]
+            ],
+            "translation_vector": [
+                0.6839376775550314,
+                -0.1508791710790483,
+                0.26643720760148115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.966433885417575,
+                    -0.22635490572472505,
+                    0.12152778188973931
+                ],
+                [
+                    -0.2546970145869285,
+                    -0.782094433118577,
+                    0.5687334423483796
+                ],
+                [
+                    -0.03368940304005199,
+                    -0.5805960336923451,
+                    -0.8134944804874353
+                ]
+            ],
+            "translation_vector": [
+                0.6840401174756561,
+                -0.1506248410592777,
+                0.26630244537111103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9660633746032081,
+                    -0.22819221671955167,
+                    0.12103664105913724
+                ],
+                [
+                    -0.25587814902778144,
+                    -0.7813384531461038,
+                    0.569242122901468
+                ],
+                [
+                    -0.03532603997588289,
+                    -0.5808945978952386,
+                    -0.8132118647903213
+                ]
+            ],
+            "translation_vector": [
+                0.6843149131473955,
+                -0.1505501979853695,
+                0.26616530698788177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656968929038156,
+                    -0.22983090713147414,
+                    0.1208605194554474
+                ],
+                [
+                    -0.25708508917633255,
+                    -0.780672720108024,
+                    0.5696115878406406
+                ],
+                [
+                    -0.036561837469060866,
+                    -0.5811435779618169,
+                    -0.8129793194384614
+                ]
+            ],
+            "translation_vector": [
+                0.6845705509866569,
+                -0.15050471230353643,
+                0.26603672789948896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965384098934585,
+                    -0.23097196512963222,
+                    0.12118371527732429
+                ],
+                [
+                    -0.258184801009129,
+                    -0.7801587373853832,
+                    0.5698183508883523
+                ],
+                [
+                    -0.03706952996918182,
+                    -0.5813813686431659,
+                    -0.8127862905724133
+                ]
+            ],
+            "translation_vector": [
+                0.6848245265148296,
+                -0.15045025010000349,
+                0.2659237881974984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650991043348596,
+                    -0.23191630317602266,
+                    0.12164927921372637
+                ],
+                [
+                    -0.25920682892258123,
+                    -0.7796574295575016,
+                    0.5700404480172343
+                ],
+                [
+                    -0.03735690902566385,
+                    -0.5816778497217826,
+                    -0.8125609764756684
+                ]
+            ],
+            "translation_vector": [
+                0.6850492546331817,
+                -0.15048197862480042,
+                0.2659178141912683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9646502320911334,
+                    -0.23317162729642174,
+                    0.12280440525673865
+                ],
+                [
+                    -0.26087812540785854,
+                    -0.7789269500324248,
+                    0.570276608495269
+                ],
+                [
+                    -0.03731666397474897,
+                    -0.5821544457763105,
+                    -0.8122214401582076
+                ]
+            ],
+            "translation_vector": [
+                0.6854686416112169,
+                -0.1506461857977858,
+                0.2660600476020865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964084265729112,
+                    -0.2347695360894663,
+                    0.12419659213479292
+                ],
+                [
+                    -0.2629561585432439,
+                    -0.7779415828994064,
+                    0.5706671116159987
+                ],
+                [
+                    -0.03735755957955088,
+                    -0.5828294420499904,
+                    -0.8117353350827824
+                ]
+            ],
+            "translation_vector": [
+                0.6859750663472096,
+                -0.15084893290733586,
+                0.26631053213902905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9622617519761835,
+                    -0.23915476355228166,
+                    0.12983574143500748
+                ],
+                [
+                    -0.2696810890397272,
+                    -0.7742700224833585,
+                    0.5725190324329541
+                ],
+                [
+                    -0.036392731390657435,
+                    -0.5859274113351172,
+                    -0.8095459454212933
+                ]
+            ],
+            "translation_vector": [
+                0.6876322374898906,
+                -0.15151009756843756,
+                0.26732408564113147
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9603608151279341,
+                    -0.24256898261198792,
+                    0.13735863074956356
+                ],
+                [
+                    -0.27674000506215574,
+                    -0.7704117525443216,
+                    0.574352418937872
+                ],
+                [
+                    -0.033497378479634285,
+                    -0.5895981853908404,
+                    -0.8070018001335686
+                ]
+            ],
+            "translation_vector": [
+                0.6893519369111182,
+                -0.15217063935960018,
+                0.2684190911013326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.958426693251135,
+                    -0.24498010456287128,
+                    0.14629771711157843
+                ],
+                [
+                    -0.2839018506409264,
+                    -0.7673292021168578,
+                    0.5749831604328631
+                ],
+                [
+                    -0.028600924221987824,
+                    -0.5926134017612756,
+                    -0.8049790948754987
+                ]
+            ],
+            "translation_vector": [
+                0.6912427154526494,
+                -0.15293091959476132,
+                0.2694096121515867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9545539716339825,
+                    -0.25076996531062984,
+                    0.1610625336193865
+                ],
+                [
+                    -0.29717873394017424,
+                    -0.7598389710576853,
+                    0.5782123642362843
+                ],
+                [
+                    -0.022616704700411907,
+                    -0.599799268555826,
+                    -0.7998308084266263
+                ]
+            ],
+            "translation_vector": [
+                0.6947147330272793,
+                -0.15360265800733408,
+                0.2714849256968322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9517673029461672,
+                    -0.2525869977556242,
+                    0.1741803938661856
+                ],
+                [
+                    -0.30642259003021866,
+                    -0.7536020634518131,
+                    0.5815403049491431
+                ],
+                [
+                    -0.01562681547058714,
+                    -0.6068638550168975,
+                    -0.7946521654864337
+                ]
+            ],
+            "translation_vector": [
+                0.6976966505083038,
+                -0.15335732507801103,
+                0.27343583445855835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9499606755375523,
+                    -0.25242475890468513,
+                    0.18400123919188527
+                ],
+                [
+                    -0.3122421711437279,
+                    -0.750528848496815,
+                    0.5824184699453616
+                ],
+                [
+                    -0.008918603684920796,
+                    -0.6107275895732539,
+                    -0.7917905466992864
+                ]
+            ],
+            "translation_vector": [
+                0.7000716906308676,
+                -0.15298654351604649,
+                0.274622529032583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9472293192006278,
+                    -0.25310190435087093,
+                    0.19671309783712296
+                ],
+                [
+                    -0.3205548622452037,
+                    -0.7458047093061829,
+                    0.583969105233897
+                ],
+                [
+                    -0.0010941378676393777,
+                    -0.6162099979639103,
+                    -0.7875811331359098
+                ]
+            ],
+            "translation_vector": [
+                0.7044198684561741,
+                -0.15134062684943778,
+                0.2762789944017219
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9455206807347121,
+                    -0.2520640123369912,
+                    0.20604459708408715
+                ],
+                [
+                    -0.32552260358727636,
+                    -0.7418243893845143,
+                    0.586286286610947
+                ],
+                [
+                    0.005067233636570646,
+                    -0.6214179825197125,
+                    -0.7834628352030508
+                ]
+            ],
+            "translation_vector": [
+                0.7081400096035134,
+                -0.14939597473216049,
+                0.2779472333903088
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.944057559433183,
+                    -0.2499940491722673,
+                    0.21507742758252368
+                ],
+                [
+                    -0.32954312306170336,
+                    -0.7398903352870779,
+                    0.5864841189593407
+                ],
+                [
+                    0.012516170332840427,
+                    -0.6245520531766982,
+                    -0.7808828838903886
+                ]
+            ],
+            "translation_vector": [
+                0.711388822236187,
+                -0.14814219060346548,
+                0.27909245898712826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9422937978551598,
+                    -0.2448558457472829,
+                    0.22831560027094583
+                ],
+                [
+                    -0.3338707753085984,
+                    -0.7377088757548045,
+                    0.5867843897271109
+                ],
+                [
+                    0.02475285677522768,
+                    -0.6291511975955902,
+                    -0.7768887093049427
+                ]
+            ],
+            "translation_vector": [
+                0.7171652797453794,
+                -0.14491165474871393,
+                0.28088763558546287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9420492444065751,
+                    -0.23730403454018062,
+                    0.23712869143980433
+                ],
+                [
+                    -0.3336096573314938,
+                    -0.7370997354575567,
+                    0.5876976914397091
+                ],
+                [
+                    0.03532446246108322,
+                    -0.632748587654965,
+                    -0.773551166486408
+                ]
+            ],
+            "translation_vector": [
+                0.7214427447613371,
+                -0.14110421402944107,
+                0.28216942234254516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9413739525091618,
+                    -0.23013408242323025,
+                    0.24668479005503452
+                ],
+                [
+                    -0.33402118032462114,
+                    -0.7384890954155898,
+                    0.5857164049664404
+                ],
+                [
+                    0.0473807200433422,
+                    -0.6337761119350288,
+                    -0.7720640564802201
+                ]
+            ],
+            "translation_vector": [
+                0.726137097560467,
+                -0.13778534305505868,
+                0.28254094456322504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9407084065460741,
+                    -0.22040599633505328,
+                    0.2578543981263439
+                ],
+                [
+                    -0.33352858119070355,
+                    -0.7395938828897252,
+                    0.5846020645883969
+                ],
+                [
+                    0.061857735025321034,
+                    -0.6359418882033583,
+                    -0.7692538823079706
+                ]
+            ],
+            "translation_vector": [
+                0.732438260947424,
+                -0.1325344025676852,
+                0.2835301122594698
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9402656172526168,
+                    -0.21458357675091302,
+                    0.26429993870854407
+                ],
+                [
+                    -0.33301189194334463,
+                    -0.741031534554137,
+                    0.5830740472878679
+                ],
+                [
+                    0.07073647458609499,
+                    -0.6362595016069511,
+                    -0.768225356114991
+                ]
+            ],
+            "translation_vector": [
+                0.7370110753949087,
+                -0.12909023816107154,
+                0.2837552080327548
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9398541624038054,
+                    -0.20921519977217834,
+                    0.27000583993041666
+                ],
+                [
+                    -0.33234750491812826,
+                    -0.7426101286068297,
+                    0.5814424587740762
+                ],
+                [
+                    0.07886247134687682,
+                    -0.6362068822913157,
+                    -0.767477370049585
+                ]
+            ],
+            "translation_vector": [
+                0.741640223624715,
+                -0.1257161789250794,
+                0.2838990530838966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9393374131863156,
+                    -0.20431193832521655,
+                    0.27550291476903455
+                ],
+                [
+                    -0.3320051154367097,
+                    -0.7433016948452826,
+                    0.5807539872992584
+                ],
+                [
+                    0.08612681064742911,
+                    -0.6369923251483672,
+                    -0.7660436999217334
+                ]
+            ],
+            "translation_vector": [
+                0.7463292045389525,
+                -0.12246509550664247,
+                0.28413242234289293
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9387270010071159,
+                    -0.20098960349225944,
+                    0.27999070853907004
+                ],
+                [
+                    -0.3322861342110296,
+                    -0.7434962526026252,
+                    0.5803440767139292
+                ],
+                [
+                    0.09152891669453843,
+                    -0.637821684841365,
+                    -0.7647260658267421
+                ]
+            ],
+            "translation_vector": [
+                0.7501772566684808,
+                -0.12025548249625992,
+                0.28434905895605345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9380253446728989,
+                    -0.19639036752109076,
+                    0.28555082961921263
+                ],
+                [
+                    -0.3322282442078951,
+                    -0.7441097728208835,
+                    0.5795904068762637
+                ],
+                [
+                    0.09865518993863912,
+                    -0.6385385419357117,
+                    -0.7632402531056567
+                ]
+            ],
+            "translation_vector": [
+                0.7543625294170332,
+                -0.11830596997804485,
+                0.28519319502926355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9367685946494901,
+                    -0.19160224348209,
+                    0.29283643962295597
+                ],
+                [
+                    -0.33324732905360804,
+                    -0.7438456373908736,
+                    0.5793443582302337
+                ],
+                [
+                    0.10682142929700737,
+                    -0.640298561631365,
+                    -0.7606621682558886
+                ]
+            ],
+            "translation_vector": [
+                0.7601279521687638,
+                -0.11591358310224228,
+                0.28677254528169066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9373596572023053,
+                    -0.1851670222234548,
+                    0.29507634085177925
+                ],
+                [
+                    -0.33005142493676015,
+                    -0.7430570068549452,
+                    0.5821789599951066
+                ],
+                [
+                    0.11145819820359093,
+                    -0.6431014371346626,
+                    -0.7576263007634705
+                ]
+            ],
+            "translation_vector": [
+                0.7630045845551924,
+                -0.11306425447373092,
+                0.2882220466044676
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9385734136341018,
+                    -0.17916873243854164,
+                    0.2949211971622165
+                ],
+                [
+                    -0.32544390204045043,
+                    -0.7437700642665414,
+                    0.5838598788456273
+                ],
+                [
+                    0.11474412335241564,
+                    -0.6439756647710463,
+                    -0.7563921795859436
+                ]
+            ],
+            "translation_vector": [
+                0.7649114445118208,
+                -0.11163002693413693,
+                0.28911973536203966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.940120710528697,
+                    -0.17512780040988313,
+                    0.29240947857176985
+                ],
+                [
+                    -0.32084763638786024,
+                    -0.7442174496182623,
+                    0.5858303354282816
+                ],
+                [
+                    0.11502105832994952,
+                    -0.6445701212492599,
+                    -0.7558435783502913
+                ]
+            ],
+            "translation_vector": [
+                0.7657931197118675,
+                -0.11110687679453085,
+                0.2896497215889337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9441860136052764,
+                    -0.16742573807473418,
+                    0.2836924284190665
+                ],
+                [
+                    -0.30980907975015554,
+                    -0.7439876230726862,
+                    0.5920310387294033
+                ],
+                [
+                    0.11194242188079756,
+                    -0.6468779165691042,
+                    -0.7543327218400886
+                ]
+            ],
+            "translation_vector": [
+                0.7648784739517107,
+                -0.11010306258803722,
+                0.29066783491720327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9469032526661125,
+                    -0.1647036525034576,
+                    0.2761284790498021
+                ],
+                [
+                    -0.30314743075049577,
+                    -0.7435004581274961,
+                    0.5960777667331479
+                ],
+                [
+                    0.10712546531852313,
+                    -0.6481356151425596,
+                    -0.7539524912513161
+                ]
+            ],
+            "translation_vector": [
+                0.7639091280727772,
+                -0.1105155149394735,
+                0.29127700164935366
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.950116744014755,
+                    -0.1653985608762535,
+                    0.2644267172637162
+                ],
+                [
+                    -0.29668522706057276,
+                    -0.7407985986490794,
+                    0.6026568777368899
+                ],
+                [
+                    0.09620836131447937,
+                    -0.6510458910857396,
+                    -0.7529164621082196
+                ]
+            ],
+            "translation_vector": [
+                0.7624267489471721,
+                -0.11310506176017773,
+                0.2926421384037348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9516391839325478,
+                    -0.16705876426932106,
+                    0.25782597403093865
+                ],
+                [
+                    -0.29417525338935674,
+                    -0.7374461231937868,
+                    0.6079754400300741
+                ],
+                [
+                    0.08856513929025678,
+                    -0.6544192728421604,
+                    -0.7509271811801966
+                ]
+            ],
+            "translation_vector": [
+                0.7613029873127707,
+                -0.11504777798117835,
+                0.2940058582081918
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9544437722755814,
+                    -0.16597292132761657,
+                    0.24797192371382493
+                ],
+                [
+                    -0.2875261848306448,
+                    -0.7337638220273224,
+                    0.6155642505219011
+                ],
+                [
+                    0.07978582957575907,
+                    -0.6588198865166661,
+                    -0.7480578711096323
+                ]
+            ],
+            "translation_vector": [
+                0.7589603774212439,
+                -0.117145272320322,
+                0.2959799311388279
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9582576984723989,
+                    -0.1638552599623399,
+                    0.23429391178828066
+                ],
+                [
+                    -0.27735982450144936,
+                    -0.7316336854352995,
+                    0.6227227939371468
+                ],
+                [
+                    0.06938091287166696,
+                    -0.6617126295598679,
+                    -0.7465404776769032
+                ]
+            ],
+            "translation_vector": [
+                0.755017536975339,
+                -0.12027001000418541,
+                0.29828646809132386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9625388012399632,
+                    -0.15725636136701432,
+                    0.22088343739887303
+                ],
+                [
+                    -0.26372869140867633,
+                    -0.7321937225126243,
+                    0.6279645929835324
+                ],
+                [
+                    0.06297803931055666,
+                    -0.6626935864505658,
+                    -0.7462378823417402
+                ]
+            ],
+            "translation_vector": [
+                0.7505210796467612,
+                -0.12123948099321141,
+                0.2997136332422737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.966231615780589,
+                    -0.1526931550338307,
+                    0.2075602685290384
+                ],
+                [
+                    -0.25157250465951925,
+                    -0.7332788736934018,
+                    0.6316750496056278
+                ],
+                [
+                    0.055747103650038446,
+                    -0.6625608604503822,
+                    -0.7469306304027712
+                ]
+            ],
+            "translation_vector": [
+                0.7462365631056074,
+                -0.12110098013892406,
+                0.30007224020550954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.972062539576759,
+                    -0.14157986683968746,
+                    0.18721527837555843
+                ],
+                [
+                    -0.22987293219872498,
+                    -0.7355041698404815,
+                    0.6373319787909785
+                ],
+                [
+                    0.04746424121316861,
+                    -0.6625622668496299,
+                    -0.7475014303351785
+                ]
+            ],
+            "translation_vector": [
+                0.7387673691409087,
+                -0.11976968086625508,
+                0.30085033212667306
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9753651564853923,
+                    -0.13505009526953618,
+                    0.17442558092755747
+                ],
+                [
+                    -0.21648668273728708,
+                    -0.7379147692056445,
+                    0.6392302477085905
+                ],
+                [
+                    0.04238310644150464,
+                    -0.6612437259860163,
+                    -0.7489729014674018
+                ]
+            ],
+            "translation_vector": [
+                0.7336816939771063,
+                -0.11900219978086352,
+                0.3007706804688267
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9792265993639738,
+                    -0.1259249920911773,
+                    0.15892817077190874
+                ],
+                [
+                    -0.19933437956311315,
+                    -0.7414753230691331,
+                    0.6406872485103119
+                ],
+                [
+                    0.03716278006630837,
+                    -0.6590578439305327,
+                    -0.7511735392912755
+                ]
+            ],
+            "translation_vector": [
+                0.7261977347260622,
+                -0.11768271729546598,
+                0.3003938254267829
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9822023172922273,
+                    -0.11949833812021299,
+                    0.14490947205854632
+                ],
+                [
+                    -0.18509320420764067,
+                    -0.7469314413897321,
+                    0.6386187654771868
+                ],
+                [
+                    0.031923559668809214,
+                    -0.654074589821348,
+                    -0.7557561228915765
+                ]
+            ],
+            "translation_vector": [
+                0.7188108635331014,
+                -0.11651808242809916,
+                0.29847232664675977
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9854610516493624,
+                    -0.1104012315498517,
+                    0.12914365549421739
+                ],
+                [
+                    -0.16763975222996982,
+                    -0.7554365629764769,
+                    0.6334133822319844
+                ],
+                [
+                    0.027630221758201918,
+                    -0.645853828192234,
+                    -0.7629609449080793
+                ]
+            ],
+            "translation_vector": [
+                0.7106147294095726,
+                -0.11422055706006268,
+                0.2961187872951454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9871970089554624,
+                    -0.10593927437296309,
+                    0.11924317865068573
+                ],
+                [
+                    -0.15769078507019785,
+                    -0.7606619365782769,
+                    0.6297039260993459
+                ],
+                [
+                    0.02399337019540926,
+                    -0.6404453828284781,
+                    -0.7676288359619838
+                ]
+            ],
+            "translation_vector": [
+                0.7048260077518722,
+                -0.11271599510830083,
+                0.2939605039121167
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9891452703492651,
+                    -0.10228977833312075,
+                    0.10549139962214972
+                ],
+                [
+                    -0.14593816078923302,
+                    -0.7676020046795637,
+                    0.6240907110648023
+                ],
+                [
+                    0.017137309331836784,
+                    -0.6327115959585975,
+                    -0.7741978745568792
+                ]
+            ],
+            "translation_vector": [
+                0.6964384955141618,
+                -0.109534164521782,
+                0.29050613983773743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9897075770203417,
+                    -0.1048451857503411,
+                    0.09739814686892855
+                ],
+                [
+                    -0.1427408141437695,
+                    -0.7717592722671742,
+                    0.6196875709962367
+                ],
+                [
+                    0.010196664459457494,
+                    -0.6272121751804716,
+                    -0.7787816865715854
+                ]
+            ],
+            "translation_vector": [
+                0.6911239745642787,
+                -0.10675614032660721,
+                0.28734991218011857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9904865641641869,
+                    -0.10290793267067527,
+                    0.09135821585206255
+                ],
+                [
+                    -0.1374064532083374,
+                    -0.7756679888423761,
+                    0.6160021409881047
+                ],
+                [
+                    0.007472136704401346,
+                    -0.6226950525567645,
+                    -0.7824289352359097
+                ]
+            ],
+            "translation_vector": [
+                0.685325789731601,
+                -0.10317151031955364,
+                0.28438674960550286
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9906019117428168,
+                    -0.10307194181938345,
+                    0.08991121877195833
+                ],
+                [
+                    -0.13659820449548515,
+                    -0.7790902572537629,
+                    0.6118490839912042
+                ],
+                [
+                    0.006984481375659985,
+                    -0.6183805833480281,
+                    -0.7858477404421712
+                ]
+            ],
+            "translation_vector": [
+                0.6808941567493141,
+                -0.09941907575908794,
+                0.28157306493732265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9907923925596087,
+                    -0.09948193966267066,
+                    0.0918356059867801
+                ],
+                [
+                    -0.13492018987600649,
+                    -0.7819442654904973,
+                    0.6085718593809188
+                ],
+                [
+                    0.011268416473875584,
+                    -0.6153588459975848,
+                    -0.7881665518421167
+                ]
+            ],
+            "translation_vector": [
+                0.6775018626164517,
+                -0.09566076432095348,
+                0.279766647406143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9904578588401876,
+                    -0.0996982222392514,
+                    0.09514985204425593
+                ],
+                [
+                    -0.13705027080666957,
+                    -0.7852075183637875,
+                    0.6038761266822861
+                ],
+                [
+                    0.014507002913402898,
+                    -0.6111541684283228,
+                    -0.7913786257406472
+                ]
+            ],
+            "translation_vector": [
+                0.6755019534488125,
+                -0.09222120437392162,
+                0.27774661436512627
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.990253794007073,
+                    -0.09726513434475466,
+                    0.09968408647068215
+                ],
+                [
+                    -0.1377528602692192,
+                    -0.7895225468282441,
+                    0.5980621184605261
+                ],
+                [
+                    0.020532241530008214,
+                    -0.6059650498921041,
+                    -0.7952262479112554
+                ]
+            ],
+            "translation_vector": [
+                0.6726364707669287,
+                -0.08725509975651805,
+                0.2749083688473312
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9900780744452513,
+                    -0.09480353502910926,
+                    0.10371931473340992
+                ],
+                [
+                    -0.1380485875363927,
+                    -0.7940156198853004,
+                    0.5920150191146922
+                ],
+                [
+                    0.026229639379728577,
+                    -0.6004593950669328,
+                    -0.7992249501197163
+                ]
+            ],
+            "translation_vector": [
+                0.6709086290474261,
+                -0.0835229198624521,
+                0.27251346191250836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9897355393092551,
+                    -0.09306699482997165,
+                    0.10845320051310853
+                ],
+                [
+                    -0.13931263007629655,
+                    -0.7975339428768207,
+                    0.586968143139453
+                ],
+                [
+                    0.03186774747991232,
+                    -0.5960521323111515,
+                    -0.8023130948936871
+                ]
+            ],
+            "translation_vector": [
+                0.6697478916653907,
+                -0.07992100243681449,
+                0.27074263261872955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9889888032078455,
+                    -0.0963395586198827,
+                    0.11233804597926485
+                ],
+                [
+                    -0.1442123032148867,
+                    -0.7978073905107584,
+                    0.5854111198532802
+                ],
+                [
+                    0.033225874419958674,
+                    -0.5951655711575898,
+                    -0.8029159259708883
+                ]
+            ],
+            "translation_vector": [
+                0.6688426905064843,
+                -0.07584246283609636,
+                0.26920048117538803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9884021751970603,
+                    -0.0994581076440704,
+                    0.11475724329897406
+                ],
+                [
+                    -0.1481497197759452,
+                    -0.7975299100760026,
+                    0.5848056968468005
+                ],
+                [
+                    0.0333586659809461,
+                    -0.5950244762680134,
+                    -0.8030149886807517
+                ]
+            ],
+            "translation_vector": [
+                0.6674828152915535,
+                -0.07195054668003517,
+                0.26748613862254306
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.988364962227756,
+                    -0.10088403220018817,
+                    0.11382931734644641
+                ],
+                [
+                    -0.14875710365632897,
+                    -0.7972021823838366,
+                    0.5850982862000439
+                ],
+                [
+                    0.031717905862569375,
+                    -0.5952235650992658,
+                    -0.802933921314957
+                ]
+            ],
+            "translation_vector": [
+                0.6652048598138824,
+                -0.0678081429309676,
+                0.2655263777619765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9885950581686226,
+                    -0.10097038609607965,
+                    0.11173536636260621
+                ],
+                [
+                    -0.14761121117318826,
+                    -0.7967064624113056,
+                    0.5860629173459507
+                ],
+                [
+                    0.02984528941996776,
+                    -0.5958722966237573,
+                    -0.8025244325350892
+                ]
+            ],
+            "translation_vector": [
+                0.6624940498171741,
+                -0.06376235619208465,
+                0.26381733076278346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9888955091541041,
+                    -0.09883364501543948,
+                    0.11098460518381228
+                ],
+                [
+                    -0.14546141763461604,
+                    -0.7966843430893278,
+                    0.5866302357158671
+                ],
+                [
+                    0.030440892801828327,
+                    -0.5962599836390903,
+                    -0.8022140512083661
+                ]
+            ],
+            "translation_vector": [
+                0.6605007701561397,
+                -0.060733771281484494,
+                0.26279349930541873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9892846102258949,
+                    -0.0974901204145824,
+                    0.10868135254840294
+                ],
+                [
+                    -0.14298032834705154,
+                    -0.7975341144731646,
+                    0.5860852855662522
+                ],
+                [
+                    0.029539561201367578,
+                    -0.5953444487631142,
+                    -0.802927395005909
+                ]
+            ],
+            "translation_vector": [
+                0.658540121351349,
+                -0.05791453153047413,
+                0.26141914722630866
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9899109076595111,
+                    -0.0968911354727062,
+                    0.10338521540110347
+                ],
+                [
+                    -0.13929590762058291,
+                    -0.7990729934183299,
+                    0.5848752014828701
+                ],
+                [
+                    0.02594311116425547,
+                    -0.5933754789812935,
+                    -0.8045076108570008
+                ]
+            ],
+            "translation_vector": [
+                0.6555298495765263,
+                -0.05503034905952352,
+                0.2590815122541763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9901899360130489,
+                    -0.09624642147158284,
+                    0.10129420996477945
+                ],
+                [
+                    -0.13749713668735566,
+                    -0.8001884017407156,
+                    0.5837748359790941
+                ],
+                [
+                    0.02486821306915735,
+                    -0.5919756313173323,
+                    -0.80557210968677
+                ]
+            ],
+            "translation_vector": [
+                0.653965474506431,
+                -0.053715918169892116,
+                0.2579486062913233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9902567242610671,
+                    -0.09572272589891744,
+                    0.10113743027298219
+                ],
+                [
+                    -0.13696143069580446,
+                    -0.8007337808039972,
+                    0.5831526204872057
+                ],
+                [
+                    0.02516319847515343,
+                    -0.5913227308550022,
+                    -0.8060423322733634
+                ]
+            ],
+            "translation_vector": [
+                0.653159724877403,
+                -0.052759674102762485,
+                0.25744050799553747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9902744874889061,
+                    -0.0969338739875498,
+                    0.0998011197449689
+                ],
+                [
+                    -0.13711048461943573,
+                    -0.8016510278212338,
+                    0.5818559483244822
+                ],
+                [
+                    0.023604119047472772,
+                    -0.5898808809131932,
+                    -0.8071452111590994
+                ]
+            ],
+            "translation_vector": [
+                0.6518767333062971,
+                -0.05215929058519264,
+                0.2564673679112428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.990241143667652,
+                    -0.09803685991954388,
+                    0.0990517616445876
+                ],
+                [
+                    -0.13753743436825758,
+                    -0.8021693396676743,
+                    0.5810402779881307
+                ],
+                [
+                    0.022492921890623564,
+                    -0.5889933145581898,
+                    -0.8078248225144975
+                ]
+            ],
+            "translation_vector": [
+                0.6513492153075096,
+                -0.052159046717507804,
+                0.2560610870688383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9901538749939182,
+                    -0.09942585067218453,
+                    0.0985383379839587
+                ],
+                [
+                    -0.13833645787930285,
+                    -0.8026597833938097,
+                    0.5801726437394394
+                ],
+                [
+                    0.021408602381666197,
+                    -0.5880916360060864,
+                    -0.8085109148327861
+                ]
+            ],
+            "translation_vector": [
+                0.650849779528345,
+                -0.05252714810007987,
+                0.25581256989541007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9899176533359453,
+                    -0.1016842491139125,
+                    0.09860706412826055
+                ],
+                [
+                    -0.14016427746429266,
+                    -0.8035895991503442,
+                    0.5784442336650111
+                ],
+                [
+                    0.020420943581722067,
+                    -0.5864333462717898,
+                    -0.8097400295426324
+                ]
+            ],
+            "translation_vector": [
+                0.6504857802655868,
+                -0.053474159521943676,
+                0.25554725299736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9898226226631066,
+                    -0.10242523471414529,
+                    0.09879396215397633
+                ],
+                [
+                    -0.14083090939841472,
+                    -0.8047568339937078,
+                    0.5766568243751559
+                ],
+                [
+                    0.0204409056145892,
+                    -0.5847012138128123,
+                    -0.8109911589798493
+                ]
+            ],
+            "translation_vector": [
+                0.6501798037467251,
+                -0.05420875380337521,
+                0.2552255996304217
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9897534757862988,
+                    -0.10298962152013295,
+                    0.09889992430775782
+                ],
+                [
+                    -0.14130496780232127,
+                    -0.8060108970415726,
+                    0.5747863428480399
+                ],
+                [
+                    0.020517388803778496,
+                    -0.5828718312883024,
+                    -0.8123050320214049
+                ]
+            ],
+            "translation_vector": [
+                0.6499360122498807,
+                -0.05490092530787985,
+                0.2550432418447356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9895377941285731,
+                    -0.10443735796345834,
+                    0.099537893552006
+                ],
+                [
+                    -0.14279875025457792,
+                    -0.8073919994300454,
+                    0.5724741707554015
+                ],
+                [
+                    0.020578408997993368,
+                    -0.5806987149270838,
+                    -0.8138584223101369
+                ]
+            ],
+            "translation_vector": [
+                0.6498992346183444,
+                -0.05572443528484927,
+                0.2550826583131166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9894611188610736,
+                    -0.10470584348702967,
+                    0.10001690158099402
+                ],
+                [
+                    -0.14324643716517135,
+                    -0.8086932715771061,
+                    0.5705222613933674
+                ],
+                [
+                    0.021145980745219277,
+                    -0.578836659901208,
+                    -0.8151692883399962
+                ]
+            ],
+            "translation_vector": [
+                0.6497768481032689,
+                -0.056347130964255476,
+                0.25496760417184766
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.98942474766093,
+                    -0.10504202648134099,
+                    0.10002420401482091
+                ],
+                [
+                    -0.1434672644785691,
+                    -0.8102326381845528,
+                    0.5682782910190535
+                ],
+                [
+                    0.021349771407243617,
+                    -0.5766188036243641,
+                    -0.8167343157769641
+                ]
+            ],
+            "translation_vector": [
+                0.6496006397966864,
+                -0.05685127469552356,
+                0.25460382442883933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.989369707827268,
+                    -0.1057861823233699,
+                    0.09978409123318967
+                ],
+                [
+                    -0.14387265932481105,
+                    -0.8119388987789625,
+                    0.5657348164541518
+                ],
+                [
+                    0.02117165871143839,
+                    -0.5740770926269858,
+                    -0.8185274904292181
+                ]
+            ],
+            "translation_vector": [
+                0.6493892526282737,
+                -0.05751452069528494,
+                0.25432433178558983
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.989307479295112,
+                    -0.10639609901966572,
+                    0.0997526015908816
+                ],
+                [
+                    -0.1443057462011787,
+                    -0.8132015677604281,
+                    0.563807646103973
+                ],
+                [
+                    0.021132037858963344,
+                    -0.5721739947825132,
+                    -0.8198599616218295
+                ]
+            ],
+            "translation_vector": [
+                0.6492339785973043,
+                -0.058048953942799214,
+                0.25405829988205275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9894977003227916,
+                    -0.10535670367083935,
+                    0.09896598429522274
+                ],
+                [
+                    -0.14289822208673664,
+                    -0.8161421404084401,
+                    0.5599036566892382
+                ],
+                [
+                    0.02178070660830372,
+                    -0.5681654438991743,
+                    -0.8226260567101542
+                ]
+            ],
+            "translation_vector": [
+                0.648717379928436,
+                -0.05885034149336457,
+                0.2533471072173717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9897778391860804,
+                    -0.10446077927574793,
+                    0.09709672831376509
+                ],
+                [
+                    -0.1409875194867861,
+                    -0.8193244588137332,
+                    0.5557247075113237
+                ],
+                [
+                    0.021502288368839738,
+                    -0.5637334270581147,
+                    -0.8256768585907059
+                ]
+            ],
+            "translation_vector": [
+                0.6479915801035201,
+                -0.059730526096541545,
+                0.2527140842748688
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9899228209195998,
+                    -0.10344870643940601,
+                    0.09670146719981186
+                ],
+                [
+                    -0.1398943467568156,
+                    -0.8203301309468668,
+                    0.5545160484658499
+                ],
+                [
+                    0.02196315933709266,
+                    -0.5624560795268468,
+                    -0.8265354065224451
+                ]
+            ],
+            "translation_vector": [
+                0.6476265115855265,
+                -0.06005868684706728,
+                0.2529210641802103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9902364378274442,
+                    -0.10043309142695774,
+                    0.09666949542249165
+                ],
+                [
+                    -0.13732270478358072,
+                    -0.8220378242066579,
+                    0.5526267187935323
+                ],
+                [
+                    0.023963971910689955,
+                    -0.5605060300478565,
+                    -0.8278035505663498
+                ]
+            ],
+            "translation_vector": [
+                0.6468410245602062,
+                -0.061036801356092824,
+                0.25349383744642556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.990649083985109,
+                    -0.09793251632744378,
+                    0.09499270837932336
+                ],
+                [
+                    -0.13424577267812754,
+                    -0.8238930923526883,
+                    0.5506162410350578
+                ],
+                [
+                    0.024340602242276407,
+                    -0.5582198443438745,
+                    -0.8293359635655406
+                ]
+            ],
+            "translation_vector": [
+                0.6458345433178161,
+                -0.0626249346610427,
+                0.25456165404245146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9910373405653863,
+                    -0.09494715900815327,
+                    0.09396822123126168
+                ],
+                [
+                    -0.13112668902672553,
+                    -0.8257605482533176,
+                    0.5485665942921324
+                ],
+                [
+                    0.025510410227499496,
+                    -0.5559717204540723,
+                    -0.8308096442780162
+                ]
+            ],
+            "translation_vector": [
+                0.6448447027590752,
+                -0.06473245138705402,
+                0.25622001526274274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9910981921103034,
+                    -0.09392120766411072,
+                    0.09435666561829699
+                ],
+                [
+                    -0.13046769102231706,
+                    -0.8262970768981887,
+                    0.5479154335377077
+                ],
+                [
+                    0.026505757770592324,
+                    -0.5553484919043392,
+                    -0.8311952221617871
+                ]
+            ],
+            "translation_vector": [
+                0.6444974733133265,
+                -0.06674504087839372,
+                0.25839186549882953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9910276596572507,
+                    -0.09102071778400035,
+                    0.09787444369373413
+                ],
+                [
+                    -0.1301266319954385,
+                    -0.8242586760681225,
+                    0.5510577960359054
+                ],
+                [
+                    0.030516183244243936,
+                    -0.5588495896576389,
+                    -0.8287073661430145
+                ]
+            ],
+            "translation_vector": [
+                0.6446536511564407,
+                -0.06893373505506965,
+                0.2635953397224553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9907991102384447,
+                    -0.08759565022804813,
+                    0.10317036983471468
+                ],
+                [
+                    -0.13043878015205204,
+                    -0.821344825542286,
+                    0.5553182890805562
+                ],
+                [
+                    0.0360949827974884,
+                    -0.5636662839092268,
+                    -0.82521359210862
+                ]
+            ],
+            "translation_vector": [
+                0.6455453013423336,
+                -0.07088920120535587,
+                0.269391668944114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9899518066323671,
+                    -0.08028742389667344,
+                    0.11640167571538106
+                ],
+                [
+                    -0.13225328620687474,
+                    -0.8170314621009241,
+                    0.5612206858488993
+                ],
+                [
+                    0.05004486819640319,
+                    -0.57097593600892,
+                    -0.8194400476337136
+                ]
+            ],
+            "translation_vector": [
+                0.6479359906835113,
+                -0.07321961446842565,
+                0.27705626732125405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9885785338810864,
+                    -0.06560367168290375,
+                    0.13567844563984363
+                ],
+                [
+                    -0.13228761513691295,
+                    -0.8090294394100997,
+                    0.5726878321120223
+                ],
+                [
+                    0.07219743230136536,
+                    -0.5840954754400188,
+                    -0.80846769034983
+                ]
+            ],
+            "translation_vector": [
+                0.6516646732613357,
+                -0.07421621308711725,
+                0.2874216643151803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9868025870047671,
+                    -0.04516208551212435,
+                    0.15550254117825443
+                ],
+                [
+                    -0.1288424500023585,
+                    -0.8006725613832479,
+                    0.5850838166667907
+                ],
+                [
+                    0.09808301258673127,
+                    -0.5973975522884107,
+                    -0.7959245486613203
+                ]
+            ],
+            "translation_vector": [
+                0.6560796773677401,
+                -0.07384794268680536,
+                0.29823137635097474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9849473570430464,
+                    -0.03232909934451353,
+                    0.1698043968496996
+                ],
+                [
+                    -0.12863957196512482,
+                    -0.793256878268217,
+                    0.5951431639570371
+                ],
+                [
+                    0.11545806328943502,
+                    -0.6080282513302618,
+                    -0.785475067208194
+                ]
+            ],
+            "translation_vector": [
+                0.6596033935203965,
+                -0.0737831619871964,
+                0.30588194997450846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9804028724456892,
+                    -0.011540478409906909,
+                    0.19666475296379976
+                ],
+                [
+                    -0.13145609972646588,
+                    -0.7818517060653397,
+                    0.6094482780084158
+                ],
+                [
+                    0.1467293479333543,
+                    -0.6233576237448197,
+                    -0.7680467247337655
+                ]
+            ],
+            "translation_vector": [
+                0.6658870052059255,
+                -0.07356835984738005,
+                0.3174678047366227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.973244734411008,
+                    0.014535570470559745,
+                    0.22931071525845065
+                ],
+                [
+                    -0.13596839185309417,
+                    -0.7680687255632193,
+                    0.6257659540343945
+                ],
+                [
+                    0.1852222539494924,
+                    -0.6402024289260296,
+                    -0.7455424646786271
+                ]
+            ],
+            "translation_vector": [
+                0.6729617141014343,
+                -0.07230182047031299,
+                0.3308776299259929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9657475117057019,
+                    0.03580199089687214,
+                    0.2570018698026643
+                ],
+                [
+                    -0.142791598743987,
+                    -0.7536616236083337,
+                    0.6415642730297463
+                ],
+                [
+                    0.2166617247286229,
+                    -0.6562868081470714,
+                    -0.7227346141494453
+                ]
+            ],
+            "translation_vector": [
+                0.6794220387864445,
+                -0.07001459515067318,
+                0.3430929568797847
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.955180651675304,
+                    0.06042606746002,
+                    0.2897906365575997
+                ],
+                [
+                    -0.15432341417873296,
+                    -0.7337468135279516,
+                    0.6616644901109601
+                ],
+                [
+                    0.2526147392797201,
+                    -0.6767305992851917,
+                    -0.6915356024744819
+                ]
+            ],
+            "translation_vector": [
+                0.6871929195469528,
+                -0.06647073935970274,
+                0.35856970201445326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9481280522964337,
+                    0.07417469454755381,
+                    0.30911375112949646
+                ],
+                [
+                    -0.1618706333555821,
+                    -0.7242355291146042,
+                    0.6702841161963724
+                ],
+                [
+                    0.273589280684814,
+                    -0.6855516122487545,
+                    -0.6746613168379373
+                ]
+            ],
+            "translation_vector": [
+                0.6917169177314543,
+                -0.06480791201882269,
+                0.3668037992983782
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9400976296568445,
+                    0.08953521868463823,
+                    0.32893751888265343
+                ],
+                [
+                    -0.17026715980710422,
+                    -0.7126066115449331,
+                    0.6805886507088333
+                ],
+                [
+                    0.29533970441646346,
+                    -0.6958270343968695,
+                    -0.6546748790030463
+                ]
+            ],
+            "translation_vector": [
+                0.6963746884413434,
+                -0.06149208460495098,
+                0.3755442877039051
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9291550740352175,
+                    0.11052302251478571,
+                    0.35278252491982387
+                ],
+                [
+                    -0.17921565508875775,
+                    -0.6999780887353013,
+                    0.6913121033669106
+                ],
+                [
+                    0.3233459406977571,
+                    -0.705560299892696,
+                    -0.630580736979502
+                ]
+            ],
+            "translation_vector": [
+                0.7014082822810023,
+                -0.05644990282556301,
+                0.3851314011897519
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9234248681518735,
+                    0.11846663334928942,
+                    0.3650372168171079
+                ],
+                [
+                    -0.18609044147239717,
+                    -0.6936491370564759,
+                    0.6958600593893967
+                ],
+                [
+                    0.33564394895678296,
+                    -0.7105044204251592,
+                    -0.6184873548303194
+                ]
+            ],
+            "translation_vector": [
+                0.7043831929170159,
+                -0.053356880110285075,
+                0.38947710148176995
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9172323388773156,
+                    0.12825155999515228,
+                    0.37714237878612794
+                ],
+                [
+                    -0.19236766359144306,
+                    -0.6864397570642258,
+                    0.7012810719861017
+                ],
+                [
+                    0.34882591434986415,
+                    -0.7157876761166097,
+                    -0.6049532909221709
+                ]
+            ],
+            "translation_vector": [
+                0.7074300591050157,
+                -0.04772837382211892,
+                0.39385497524324203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9128008929938952,
+                    0.1357809327675485,
+                    0.38517277687593926
+                ],
+                [
+                    -0.19515323954829256,
+                    -0.6834615380904294,
+                    0.7034170448921973
+                ],
+                [
+                    0.35876140099424625,
+                    -0.7172474219178756,
+                    -0.5973662133974492
+                ]
+            ],
+            "translation_vector": [
+                0.7093789237877408,
+                -0.04160725127602621,
+                0.39523727981813855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9104467575961703,
+                    0.14332136065010304,
+                    0.38800217675165644
+                ],
+                [
+                    -0.19402188261768638,
+                    -0.6804676565550396,
+                    0.7066252737115916
+                ],
+                [
+                    0.3652974276505507,
+                    -0.7186256020793416,
+                    -0.5917220913469388
+                ]
+            ],
+            "translation_vector": [
+                0.7101313744791317,
+                -0.03531633199320501,
+                0.3961531033910213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9075580775228437,
+                    0.15030428738222856,
+                    0.39210579837278575
+                ],
+                [
+                    -0.19540342222636328,
+                    -0.6753387160945763,
+                    0.7111505615029452
+                ],
+                [
+                    0.3716932048144879,
+                    -0.7220292513037467,
+                    -0.5835391347257571
+                ]
+            ],
+            "translation_vector": [
+                0.711193971789321,
+                -0.02874320464793554,
+                0.39800812285335907
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9047416847607358,
+                    0.15922006295177613,
+                    0.3950841118166334
+                ],
+                [
+                    -0.19540689726718619,
+                    -0.6690191201273404,
+                    0.7170980138059587
+                ],
+                [
+                    0.3784952157646342,
+                    -0.7259906255990306,
+                    -0.5741767873970625
+                ]
+            ],
+            "translation_vector": [
+                0.7117339965839689,
+                -0.020989675082835065,
+                0.40010144596604924
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.902257936109694,
+                    0.16823675369808352,
+                    0.39702268377538097
+                ],
+                [
+                    -0.19255820710753022,
+                    -0.6666340527126354,
+                    0.7200835900362271
+                ],
+                [
+                    0.3858133662829858,
+                    -0.7261511099413523,
+                    -0.5690804968792492
+                ]
+            ],
+            "translation_vector": [
+                0.7117265153146197,
+                -0.014540890818251474,
+                0.40066945564339973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9011265528646827,
+                    0.17546794644541802,
+                    0.396461770530832
+                ],
+                [
+                    -0.1890739955657179,
+                    -0.6638574722729638,
+                    0.7235635982470137
+                ],
+                [
+                    0.39015632754452295,
+                    -0.7269829821100209,
+                    -0.565043169854651
+                ]
+            ],
+            "translation_vector": [
+                0.7112614206495341,
+                -0.008562999213013116,
+                0.40100037324952753
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9000942675783064,
+                    0.18621826546052292,
+                    0.3938947411194348
+                ],
+                [
+                    -0.1827062654438564,
+                    -0.6594069476734629,
+                    0.7292468017945132
+                ],
+                [
+                    0.39553600346900336,
+                    -0.7283579030729611,
+                    -0.5595051697624674
+                ]
+            ],
+            "translation_vector": [
+                0.7099464090191723,
+                -0.0012258986883060818,
+                0.4017048062374204
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8994034259112116,
+                    0.19443979376662823,
+                    0.3914928403676966
+                ],
+                [
+                    -0.17710621758031253,
+                    -0.6567176091225151,
+                    0.7330452711550648
+                ],
+                [
+                    0.3996334134598491,
+                    -0.7286392443921743,
+                    -0.5562175710799063
+                ]
+            ],
+            "translation_vector": [
+                0.7088226530184686,
+                0.003555167240487725,
+                0.40221484695293164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8994360844215238,
+                    0.19924569417076998,
+                    0.38899342333114734
+                ],
+                [
+                    -0.17306363001319194,
+                    -0.6549191939598534,
+                    0.735615272645717
+                ],
+                [
+                    0.4013274349046351,
+                    -0.7289595343620822,
+                    -0.5545757723300594
+                ]
+            ],
+            "translation_vector": [
+                0.7080570818922809,
+                0.006822100193550847,
+                0.40241135064879474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8999052635586485,
+                    0.20507958050056818,
+                    0.3848543650280591
+                ],
+                [
+                    -0.16709812539140645,
+                    -0.6530004832288,
+                    0.7386938373870677
+                ],
+                [
+                    0.4028011086257304,
+                    -0.7290629153678473,
+                    -0.5533701585062373
+                ]
+            ],
+            "translation_vector": [
+                0.7068456721049683,
+                0.010567982554994554,
+                0.402365353275474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8997899068979941,
+                    0.21269464092332538,
+                    0.38097127603927994
+                ],
+                [
+                    -0.1597904917563063,
+                    -0.6518492402881984,
+                    0.7413228491554653
+                ],
+                [
+                    0.40601123406720824,
+                    -0.7279104049662956,
+                    -0.5525407859633769
+                ]
+            ],
+            "translation_vector": [
+                0.7051816985905626,
+                0.013511676357625665,
+                0.40240164877781853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9001182689832218,
+                    0.216914445691757,
+                    0.37780315654171875
+                ],
+                [
+                    -0.1548971276933755,
+                    -0.6512018123188622,
+                    0.742928717620319
+                ],
+                [
+                    0.40717807121085337,
+                    -0.7272443350641291,
+                    -0.5525592234703371
+                ]
+            ],
+            "translation_vector": [
+                0.7040234331234974,
+                0.015225549607748426,
+                0.4023350119961016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9008487041002139,
+                    0.22222024075800773,
+                    0.372947418436458
+                ],
+                [
+                    -0.14774154838722292,
+                    -0.6508614332354974,
+                    0.7446823682663501
+                ],
+                [
+                    0.4082205864494235,
+                    -0.7259459754858396,
+                    -0.553496516226436
+                ]
+            ],
+            "translation_vector": [
+                0.7023261767466968,
+                0.016770891049533956,
+                0.4019772242409832
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9018918552584625,
+                    0.22517113812130757,
+                    0.36863130628800916
+                ],
+                [
+                    -0.14216902088539518,
+                    -0.6511109967666942,
+                    0.7455484151884239
+                ],
+                [
+                    0.40789588244910874,
+                    -0.7248119952419643,
+                    -0.5552193446147442
+                ]
+            ],
+            "translation_vector": [
+                0.7008824890401085,
+                0.016948828393040932,
+                0.4012579901301995
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9029397034964822,
+                    0.22620082080350395,
+                    0.3654217844046869
+                ],
+                [
+                    -0.13803748180651823,
+                    -0.6525805285605331,
+                    0.7450398025341801
+                ],
+                [
+                    0.40699575607885596,
+                    -0.7231679213097579,
+                    -0.5580166772797424
+                ]
+            ],
+            "translation_vector": [
+                0.6999599004087849,
+                0.01633670827498058,
+                0.4004059473370529
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.904433134568916,
+                    0.2253464418674924,
+                    0.3622425792635453
+                ],
+                [
+                    -0.1343653876808067,
+                    -0.6554264969952818,
+                    0.7432106361119171
+                ],
+                [
+                    0.4049032571951374,
+                    -0.7208571898609009,
+                    -0.562510679132951
+                ]
+            ],
+            "translation_vector": [
+                0.6991174484982025,
+                0.014428284695396885,
+                0.3990267641716271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9056798634101295,
+                    0.22350149930608934,
+                    0.36026527007378784
+                ],
+                [
+                    -0.1323742613598977,
+                    -0.6582003865450339,
+                    0.7411135581551516
+                ],
+                [
+                    0.40276673142506514,
+                    -0.7189014751409945,
+                    -0.5665329902991275
+                ]
+            ],
+            "translation_vector": [
+                0.6984846987471648,
+                0.011694176763499653,
+                0.3978458468946763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.906332461499591,
+                    0.2213551590443289,
+                    0.35994911139847624
+                ],
+                [
+                    -0.13158896133136727,
+                    -0.6616183112711121,
+                    0.7382042775861531
+                ],
+                [
+                    0.40155424849928406,
+                    -0.7164238296952594,
+                    -0.5705182571635666
+                ]
+            ],
+            "translation_vector": [
+                0.6982612275807419,
+                0.008922238257819043,
+                0.396740820076114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9065855826252366,
+                    0.21771409527169733,
+                    0.36152891183982255
+                ],
+                [
+                    -0.13240572635964412,
+                    -0.6666705182862295,
+                    0.7334978825294212
+                ],
+                [
+                    0.4007134949103099,
+                    -0.7128471033594764,
+                    -0.5755672873164079
+                ]
+            ],
+            "translation_vector": [
+                0.6985775958095174,
+                0.004340210450919299,
+                0.3955941069796352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9059213805811799,
+                    0.21544217401131127,
+                    0.3645423457750402
+                ],
+                [
+                    -0.13445873460454427,
+                    -0.6699832464191235,
+                    0.7300981428590521
+                ],
+                [
+                    0.40153119541877924,
+                    -0.7104274200613122,
+                    -0.5779840654642603
+                ]
+            ],
+            "translation_vector": [
+                0.6991848945178789,
+                0.0005499617621907912,
+                0.39539319190802413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9044266315837614,
+                    0.2118660556361925,
+                    0.3703042567284547
+                ],
+                [
+                    -0.1386418215935824,
+                    -0.6749087355954442,
+                    0.7247597146104167
+                ],
+                [
+                    0.40347355971273363,
+                    -0.7068316440893977,
+                    -0.581031938473794
+                ]
+            ],
+            "translation_vector": [
+                0.7005324313444652,
+                -0.00486702377715334,
+                0.3952396023161477
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9019546224405839,
+                    0.2087658845697334,
+                    0.3780141062154703
+                ],
+                [
+                    -0.1430751817712814,
+                    -0.6814609993425059,
+                    0.717732818489045
+                ],
+                [
+                    0.40743999732375186,
+                    -0.7014468702723895,
+                    -0.5847776814874958
+                ]
+            ],
+            "translation_vector": [
+                0.7021840545093103,
+                -0.012295462532990374,
+                0.39538598342375253
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8997357387349629,
+                    0.207088696295751,
+                    0.3841742733572576
+                ],
+                [
+                    -0.14546212361205504,
+                    -0.687631674894332,
+                    0.7113391949529333
+                ],
+                [
+                    0.411480705546836,
+                    -0.695900101701776,
+                    -0.5885632314493796
+                ]
+            ],
+            "translation_vector": [
+                0.703416543748964,
+                -0.017747228213718,
+                0.39499091964819216
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8967628757713751,
+                    0.2059107101824784,
+                    0.39168498065460805
+                ],
+                [
+                    -0.14701068852363405,
+                    -0.6962372172201662,
+                    0.7025963242270244
+                ],
+                [
+                    0.41737776905108437,
+                    -0.6876441789106242,
+                    -0.594088613855099
+                ]
+            ],
+            "translation_vector": [
+                0.7048761844086997,
+                -0.02422631032055022,
+                0.3943015447326123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8921086008405564,
+                    0.20548482025111225,
+                    0.4023906471983072
+                ],
+                [
+                    -0.14919350425540184,
+                    -0.706671040103918,
+                    0.6916338188423408
+                ],
+                [
+                    0.4264780681281252,
+                    -0.6770465491565661,
+                    -0.5997703124370922
+                ]
+            ],
+            "translation_vector": [
+                0.7069288538483957,
+                -0.03153757658182548,
+                0.39383585057018367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.885651311521374,
+                    0.20483218691765792,
+                    0.416731963740484
+                ],
+                [
+                    -0.15247058621221546,
+                    -0.719413082890751,
+                    0.6776411561480966
+                ],
+                [
+                    0.4386051467328829,
+                    -0.6636931454883013,
+                    -0.6059182567733631
+                ]
+            ],
+            "translation_vector": [
+                0.7097282641056699,
+                -0.03978902839915028,
+                0.3933845405953663
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8791068345800087,
+                    0.20520019234030193,
+                    0.4301907187030188
+                ],
+                [
+                    -0.15469164862833854,
+                    -0.730879417595847,
+                    0.6647448915030499
+                ],
+                [
+                    0.45082332153446036,
+                    -0.6509286888732575,
+                    -0.610778335210392
+                ]
+            ],
+            "translation_vector": [
+                0.7122866106071498,
+                -0.0465185738132112,
+                0.3930666926961749
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8689508669992291,
+                    0.21125225346322882,
+                    0.44754539004216776
+                ],
+                [
+                    -0.15187228974934375,
+                    -0.746857663102897,
+                    0.6474090196087565
+                ],
+                [
+                    0.47101931844413747,
+                    -0.630536372044617,
+                    -0.6168992504301112
+                ]
+            ],
+            "translation_vector": [
+                0.7149622503125445,
+                -0.05361599994336571,
+                0.39237812722019016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8632793503274387,
+                    0.21098587031451008,
+                    0.45851251436123786
+                ],
+                [
+                    -0.15245304794906925,
+                    -0.7570056611384922,
+                    0.6353742969111308
+                ],
+                [
+                    0.48115156808356596,
+                    -0.6184071405893562,
+                    -0.6213419163381965
+                ]
+            ],
+            "translation_vector": [
+                0.7171754252945908,
+                -0.05862260751043017,
+                0.39187377916057226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8585051469125303,
+                    0.21015101990328827,
+                    0.467766460488888
+                ],
+                [
+                    -0.1533409475655599,
+                    -0.7652334013835093,
+                    0.6252234762120829
+                ],
+                [
+                    0.4893418708064852,
+                    -0.6084853245893713,
+                    -0.624732057153286
+                ]
+            ],
+            "translation_vector": [
+                0.7190651850167635,
+                -0.0627739170307648,
+                0.3913899590090942
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8533584067545319,
+                    0.21146312743254764,
+                    0.4765110443188208
+                ],
+                [
+                    -0.15086716079244183,
+                    -0.7747562898378798,
+                    0.6139965725890258
+                ],
+                [
+                    0.49901756423576377,
+                    -0.5958490052799361,
+                    -0.6292419514710667
+                ]
+            ],
+            "translation_vector": [
+                0.7204946212590309,
+                -0.06599219294417707,
+                0.3899124032687532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.849929495637785,
+                    0.21082939636575804,
+                    0.48287764296242813
+                ],
+                [
+                    -0.14835856105292752,
+                    -0.783618856892121,
+                    0.6032671253146406
+                ],
+                [
+                    0.5055784704743715,
+                    -0.584373555828064,
+                    -0.6347424339380969
+                ]
+            ],
+            "translation_vector": [
+                0.7216577491650328,
+                -0.0688636882069526,
+                0.3880743435518045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8468010885000481,
+                    0.20936857017417407,
+                    0.4889710812904538
+                ],
+                [
+                    -0.1473135736938879,
+                    -0.791003635196489,
+                    0.5938113842892161
+                ],
+                [
+                    0.5111033432884872,
+                    -0.5748722039976899,
+                    -0.6389799070003449
+                ]
+            ],
+            "translation_vector": [
+                0.7229215775920416,
+                -0.07141833663317915,
+                0.3867203156112887
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8434822710428933,
+                    0.20666270488785307,
+                    0.49581063405776105
+                ],
+                [
+                    -0.14846154314944507,
+                    -0.7973818536457765,
+                    0.5849284996323146
+                ],
+                [
+                    0.5162333083422731,
+                    -0.5669856311096971,
+                    -0.6418959927224427
+                ]
+            ],
+            "translation_vector": [
+                0.7243846964868483,
+                -0.07421865249882133,
+                0.3857258375589085
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8399834873976573,
+                    0.20317473360844446,
+                    0.5031379219681295
+                ],
+                [
+                    -0.15129029007650147,
+                    -0.8027859352429974,
+                    0.5767547054897728
+                ],
+                [
+                    0.5210940308887044,
+                    -0.5605843110533544,
+                    -0.6435885651353653
+                ]
+            ],
+            "translation_vector": [
+                0.7258407007907145,
+                -0.07733395812164214,
+                0.3849498666317365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8363097102813245,
+                    0.201943911482558,
+                    0.5097104326029558
+                ],
+                [
+                    -0.15318080090154143,
+                    -0.8066016151549308,
+                    0.5709023354870951
+                ],
+                [
+                    0.5264235089016541,
+                    -0.5555290190841358,
+                    -0.6436348329845802
+                ]
+            ],
+            "translation_vector": [
+                0.7268017892480055,
+                -0.07929677043407507,
+                0.3842971873405889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8293411072297563,
+                    0.20200223431110545,
+                    0.5209495418869694
+                ],
+                [
+                    -0.15462865890645278,
+                    -0.8129692879385708,
+                    0.5614008502963327
+                ],
+                [
+                    0.5369202042237877,
+                    -0.5461465318044001,
+                    -0.6429935148151276
+                ]
+            ],
+            "translation_vector": [
+                0.7281615129532003,
+                -0.08181476520826378,
+                0.3828891471713203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8247275058127012,
+                    0.20325034761885974,
+                    0.527744102144945
+                ],
+                [
+                    -0.1546420576126177,
+                    -0.8165674457311801,
+                    0.5561505556855918
+                ],
+                [
+                    0.5439764472597112,
+                    -0.5402840944955436,
+                    -0.642014580879464
+                ]
+            ],
+            "translation_vector": [
+                0.7287705887201226,
+                -0.08280283964230227,
+                0.3818346921514432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8199404883855974,
+                    0.20567571931392226,
+                    0.5342238238703785
+                ],
+                [
+                    -0.1546254518057128,
+                    -0.8189621211323581,
+                    0.5526228495133622
+                ],
+                [
+                    0.5511701780392946,
+                    -0.5357224492543593,
+                    -0.6396975005461902
+                ]
+            ],
+            "translation_vector": [
+                0.7292810287816864,
+                -0.08322807157179558,
+                0.3812758622735302
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.811919370337007,
+                    0.21225891416449855,
+                    0.5438134693341696
+                ],
+                [
+                    -0.1513493328482781,
+                    -0.8231644416641024,
+                    0.5472601588149897
+                ],
+                [
+                    0.5638087579294411,
+                    -0.5266369293332309,
+                    -0.6362179101098353
+                ]
+            ],
+            "translation_vector": [
+                0.729688963412708,
+                -0.08355028485196805,
+                0.38014973297740307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8043836774930017,
+                    0.2212142669042265,
+                    0.551390195325289
+                ],
+                [
+                    -0.1454604627502628,
+                    -0.8265158602014072,
+                    0.5437948019354428
+                ],
+                [
+                    0.5760279100523811,
+                    -0.5176251355503843,
+                    -0.6326579375042506
+                ]
+            ],
+            "translation_vector": [
+                0.7296784731889261,
+                -0.08343903843770371,
+                0.3794089829981808
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7990450910675901,
+                    0.22844707676733428,
+                    0.5561824121250568
+                ],
+                [
+                    -0.1408865887124445,
+                    -0.8281240845777968,
+                    0.542550891311734
+                ],
+                [
+                    0.5845322160170108,
+                    -0.5118812691031448,
+                    -0.6295233552296504
+                ]
+            ],
+            "translation_vector": [
+                0.7295390383712281,
+                -0.08275654246646158,
+                0.3790449821518559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7873951087208324,
+                    0.24448911104268758,
+                    0.5658922312102056
+                ],
+                [
+                    -0.13047752810489227,
+                    -0.8310902158038709,
+                    0.5406150828960586
+                ],
+                [
+                    0.60248199759175,
+                    -0.49951389147513386,
+                    -0.6224960359722965
+                ]
+            ],
+            "translation_vector": [
+                0.72907994510386,
+                -0.08138850654650764,
+                0.37829526877340897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7779524726923117,
+                    0.2555907380823957,
+                    0.5739889588122881
+                ],
+                [
+                    -0.12440920102447126,
+                    -0.8327796459997238,
+                    0.5394445401605505
+                ],
+                [
+                    0.6158833501016009,
+                    -0.49107172166097224,
+                    -0.6160651452992273
+                ]
+            ],
+            "translation_vector": [
+                0.7291365059967975,
+                -0.07995600265840141,
+                0.3780667332411951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7694223172218173,
+                    0.2644935892617876,
+                    0.581405571869092
+                ],
+                [
+                    -0.12108548893416313,
+                    -0.8333345666728323,
+                    0.5393438646705621
+                ],
+                [
+                    0.627158354907741,
+                    -0.4853829840730098,
+                    -0.6091598777347346
+                ]
+            ],
+            "translation_vector": [
+                0.7293177045953381,
+                -0.07872366052547504,
+                0.3783139053461386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7578051850528454,
+                    0.2736842419452941,
+                    0.5923075528961724
+                ],
+                [
+                    -0.12054933964129232,
+                    -0.8334229911139529,
+                    0.5393273352934378
+                ],
+                [
+                    0.641248125314274,
+                    -0.4801073354922852,
+                    -0.5985798093716723
+                ]
+            ],
+            "translation_vector": [
+                0.7301488979021422,
+                -0.07747902000939251,
+                0.37937750874204845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7483761134163329,
+                    0.2800999641932137,
+                    0.6012297422174193
+                ],
+                [
+                    -0.12105242745503471,
+                    -0.8335531010463516,
+                    0.5390134854929464
+                ],
+                [
+                    0.6521345740528619,
+                    -0.4761651371057856,
+                    -0.5899044494915436
+                ]
+            ],
+            "translation_vector": [
+                0.7308609657668346,
+                -0.07677008251354736,
+                0.380245934398839
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7408838711204623,
+                    0.28442136964244624,
+                    0.6084369926329866
+                ],
+                [
+                    -0.12179460041798765,
+                    -0.8339917874328864,
+                    0.5381670500908817
+                ],
+                [
+                    0.6604976645095582,
+                    -0.4728236277780689,
+                    -0.5832500768900121
+                ]
+            ],
+            "translation_vector": [
+                0.7313919169123461,
+                -0.07632135988392688,
+                0.3804875820200873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.734933484692274,
+                    0.29069325151034564,
+                    0.6126746335571714
+                ],
+                [
+                    -0.11871794483422621,
+                    -0.8343601695961756,
+                    0.5382835284176724
+                ],
+                [
+                    0.667666700272231,
+                    -0.46833806264042255,
+                    -0.5786887215332669
+                ]
+            ],
+            "translation_vector": [
+                0.7310740176398854,
+                -0.07513974042737964,
+                0.37984487181742943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7323526371346452,
+                    0.2938281940336144,
+                    0.614267537212309
+                ],
+                [
+                    -0.11661258772879571,
+                    -0.8346592666281423,
+                    0.5382800507309977
+                ],
+                [
+                    0.6708659473137124,
+                    -0.4658421417419383,
+                    -0.5770008489700503
+                ]
+            ],
+            "translation_vector": [
+                0.7307819574076658,
+                -0.07438290497975543,
+                0.3792659863232492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7305017114077914,
+                    0.2958781356041453,
+                    0.6154862943248235
+                ],
+                [
+                    -0.11519807275313787,
+                    -0.8349644627585452,
+                    0.5381112802797366
+                ],
+                [
+                    0.6731245454329021,
+                    -0.4639940460843754,
+                    -0.5758583780184152
+                ]
+            ],
+            "translation_vector": [
+                0.7306379116366774,
+                -0.07374903910806614,
+                0.37881245535003083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7281425827279133,
+                    0.29883251251482296,
+                    0.6168529068444129
+                ],
+                [
+                    -0.11223356099086253,
+                    -0.8358280655769282,
+                    0.5373965691937758
+                ],
+                [
+                    0.6761745388622927,
+                    -0.46053292418458897,
+                    -0.5750629693662751
+                ]
+            ],
+            "translation_vector": [
+                0.7303608538661742,
+                -0.07277810555388319,
+                0.3778598000793664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7275591832772188,
+                    0.3000853947384621,
+                    0.6169330520353465
+                ],
+                [
+                    -0.11002348114502483,
+                    -0.8365827754682421,
+                    0.5366787618180761
+                ],
+                [
+                    0.6771650230377501,
+                    -0.45834268364894204,
+                    -0.5756470410935587
+                ]
+            ],
+            "translation_vector": [
+                0.7301022614468702,
+                -0.07215482693477855,
+                0.37696540435074066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7271574243661764,
+                    0.3008134924671841,
+                    0.6170521233565642
+                ],
+                [
+                    -0.10816242749995235,
+                    -0.8374418566670135,
+                    0.5357163671005611
+                ],
+                [
+                    0.6778959872033958,
+                    -0.4562919892478951,
+                    -0.5764153459804247
+                ]
+            ],
+            "translation_vector": [
+                0.7298587907145544,
+                -0.07130366465589288,
+                0.3758087773421133
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7251350761843678,
+                    0.3022864325880555,
+                    0.6187099756430946
+                ],
+                [
+                    -0.10651600789025656,
+                    -0.8384421982355735,
+                    0.5344801402119842
+                ],
+                [
+                    0.6803186469223188,
+                    -0.453472813839029,
+                    -0.5757855032550744
+                ]
+            ],
+            "translation_vector": [
+                0.7298471282596165,
+                -0.07072165556284944,
+                0.37507190331107054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7221587773286268,
+                    0.3041718907964278,
+                    0.6212617493267619
+                ],
+                [
+                    -0.10505387062270274,
+                    -0.8394854346950554,
+                    0.5331302741376087
+                ],
+                [
+                    0.6837034332182418,
+                    -0.4502706583646987,
+                    -0.5742873406417813
+                ]
+            ],
+            "translation_vector": [
+                0.7299654991918124,
+                -0.07026771242281867,
+                0.37455540107798035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7195658246512799,
+                    0.3059877493438155,
+                    0.6233751047687338
+                ],
+                [
+                    -0.10375307693448894,
+                    -0.8402377565494263,
+                    0.5321990337227352
+                ],
+                [
+                    0.6866296840514177,
+                    -0.4476293217834299,
+                    -0.5728592036959494
+                ]
+            ],
+            "translation_vector": [
+                0.7299799686745817,
+                -0.06976323034057111,
+                0.37401771004735074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7160609321507048,
+                    0.3084605701422729,
+                    0.6261859293492368
+                ],
+                [
+                    -0.10298015445503858,
+                    -0.8405685918124741,
+                    0.5318265979121486
+                ],
+                [
+                    0.6903997604546802,
+                    -0.44530497316546763,
+                    -0.570133012233305
+                ]
+            ],
+            "translation_vector": [
+                0.7299375831129177,
+                -0.06909328418987833,
+                0.3735775511080206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7133098616899485,
+                    0.30997233472954794,
+                    0.6285747313710434
+                ],
+                [
+                    -0.10318005728240946,
+                    -0.8406576024673883,
+                    0.5316471303345677
+                ],
+                [
+                    0.6932120288880343,
+                    -0.4440855177959481,
+                    -0.5676663948912596
+                ]
+            ],
+            "translation_vector": [
+                0.7299515353648381,
+                -0.0686960819322955,
+                0.3733356422255971
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7110003729180008,
+                    0.3110857268894741,
+                    0.6306378836036662
+                ],
+                [
+                    -0.10354775692798768,
+                    -0.8407284130591646,
+                    0.531463637053563
+                ],
+                [
+                    0.6955259389452317,
+                    -0.44317198241841327,
+                    -0.5655459859761074
+                ]
+            ],
+            "translation_vector": [
+                0.7299512114754435,
+                -0.06846996862113928,
+                0.37312874115619865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7071666487239189,
+                    0.3117028187413874,
+                    0.6346311398925015
+                ],
+                [
+                    -0.10648179426327788,
+                    -0.8403921386735235,
+                    0.531415732497839
+                ],
+                [
+                    0.6989828026661707,
+                    -0.44337614510076606,
+                    -0.5611066169031782
+                ]
+            ],
+            "translation_vector": [
+                0.7302118632741638,
+                -0.06853065615596822,
+                0.37332313076298057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.70451018706125,
+                    0.3111686599086383,
+                    0.637839683163085
+                ],
+                [
+                    -0.11062216959149296,
+                    -0.8396193336711134,
+                    0.5317914159899033
+                ],
+                [
+                    0.7010193520308791,
+                    -0.4452116795596647,
+                    -0.5570982215569072
+                ]
+            ],
+            "translation_vector": [
+                0.7305647148516119,
+                -0.0688785103629048,
+                0.373923616900386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7019280764702406,
+                    0.3110347712933627,
+                    0.6407451494231335
+                ],
+                [
+                    -0.11426934996184154,
+                    -0.8387788808140259,
+                    0.5323462263975094
+                ],
+                [
+                    0.7030216860965859,
+                    -0.4468862944271795,
+                    -0.5532207052624276
+                ]
+            ],
+            "translation_vector": [
+                0.7308844028502453,
+                -0.069255760625817,
+                0.37460355920706395
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6995619004651408,
+                    0.3112895287919051,
+                    0.6432044594700151
+                ],
+                [
+                    -0.11791108574242358,
+                    -0.8374998269216336,
+                    0.5335644438727872
+                ],
+                [
+                    0.7047766477946353,
+                    -0.44910229254675105,
+                    -0.5491784842404236
+                ]
+            ],
+            "translation_vector": [
+                0.7310372005830429,
+                -0.06965914047734842,
+                0.37537914027828134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6975483939888688,
+                    0.3123461674533431,
+                    0.6448768174781586
+                ],
+                [
+                    -0.12037593046759729,
+                    -0.83611655887584,
+                    0.5351810304352017
+                ],
+                [
+                    0.7063539292788074,
+                    -0.45094231521429906,
+                    -0.5456328022961576
+                ]
+            ],
+            "translation_vector": [
+                0.7310079187317235,
+                -0.07000305904011156,
+                0.3761597552444885
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6965023443411577,
+                    0.3130201235629687,
+                    0.6456801735936265
+                ],
+                [
+                    -0.12202263574200455,
+                    -0.8350596260402025,
+                    0.5364567991219533
+                ],
+                [
+                    0.7071032178500151,
+                    -0.4524310148544431,
+                    -0.54342544668421
+                ]
+            ],
+            "translation_vector": [
+                0.7310225961321594,
+                -0.0701969704382584,
+                0.3768166969911411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6945632804631411,
+                    0.3135580313335551,
+                    0.6475053748182372
+                ],
+                [
+                    -0.12606372688576997,
+                    -0.8330538745213575,
+                    0.5386364069654266
+                ],
+                [
+                    0.708300632638395,
+                    -0.4557440105269405,
+                    -0.5390803378652107
+                ]
+            ],
+            "translation_vector": [
+                0.7312799989630415,
+                -0.07086284012540732,
+                0.3784025823207245
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.69420810814445,
+                    0.3123009035564521,
+                    0.6484930595035906
+                ],
+                [
+                    -0.13196282801969372,
+                    -0.8304723029825024,
+                    0.5412038118860434
+                ],
+                [
+                    0.7075739640543233,
+                    -0.4612850524532124,
+                    -0.5353084958934322
+                ]
+            ],
+            "translation_vector": [
+                0.7316946150225594,
+                -0.07174215851013445,
+                0.3803516171066179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6957455216075883,
+                    0.31013235485085194,
+                    0.6478858631253267
+                ],
+                [
+                    -0.1393097624959004,
+                    -0.8265974126322252,
+                    0.5452792931177985
+                ],
+                [
+                    0.7046495293664221,
+                    -0.46963245192850056,
+                    -0.5318969833147241
+                ]
+            ],
+            "translation_vector": [
+                0.7319582728406061,
+                -0.07306611560948918,
+                0.3828793555648614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6984248686259487,
+                    0.3085523132836011,
+                    0.6457539569001227
+                ],
+                [
+                    -0.1434810727531885,
+                    -0.8236040669283607,
+                    0.5487162497144215
+                ],
+                [
+                    0.7011532533237089,
+                    -0.4758905450903637,
+                    -0.5309541453338281
+                ]
+            ],
+            "translation_vector": [
+                0.7319190104772278,
+                -0.07404117755816118,
+                0.3846182608512952
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7045318612169312,
+                    0.30452218949023047,
+                    0.6410156726931749
+                ],
+                [
+                    -0.15052408075187343,
+                    -0.8185817795584102,
+                    0.5543161293781648
+                ],
+                [
+                    0.6935253114659989,
+                    -0.4870216692130474,
+                    -0.5308790220689895
+                ]
+            ],
+            "translation_vector": [
+                0.7318912758622069,
+                -0.07569901578507743,
+                0.38745663394779145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7182579947359181,
+                    0.2960291082917027,
+                    0.6296604005668112
+                ],
+                [
+                    -0.16146101679736644,
+                    -0.8093547013554553,
+                    0.5646904527691096
+                ],
+                [
+                    0.6767834166501852,
+                    -0.5072590407650128,
+                    -0.5335283239992612
+                ]
+            ],
+            "translation_vector": [
+                0.7312517519435806,
+                -0.07773971862062899,
+                0.39133036375573
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7407584407388798,
+                    0.28325455555035606,
+                    0.6091336382388304
+                ],
+                [
+                    -0.17231533945528535,
+                    -0.7963000363106867,
+                    0.5798393535799456
+                ],
+                [
+                    0.6492952766365345,
+                    -0.5344839650836775,
+                    -0.5410568683659019
+                ]
+            ],
+            "translation_vector": [
+                0.7294050134801009,
+                -0.07951965937389524,
+                0.3950208919662759
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7682302777860167,
+                    0.2688257759088219,
+                    0.5809947869816388
+                ],
+                [
+                    -0.17726495277187937,
+                    -0.7827427225660765,
+                    0.5965659785712139
+                ],
+                [
+                    0.6151417534289176,
+                    -0.5612900609104586,
+                    -0.5536732707215789
+                ]
+            ],
+            "translation_vector": [
+                0.7264294275672836,
+                -0.08173831136229795,
+                0.3978921731704724
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8025131987159622,
+                    0.2509190327179723,
+                    0.5413060178000537
+                ],
+                [
+                    -0.17236013820949855,
+                    -0.7710825572847716,
+                    0.6129630271130387
+                ],
+                [
+                    0.5711957183339853,
+                    -0.585210499624754,
+                    -0.5755554903620227
+                ]
+            ],
+            "translation_vector": [
+                0.7218284139462722,
+                -0.0874842334134658,
+                0.40024380193437537
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8274299839278151,
+                    0.23341560823896945,
+                    0.5107609769037249
+                ],
+                [
+                    -0.16839640166674608,
+                    -0.7645387429947907,
+                    0.6221922230031787
+                ],
+                [
+                    0.5357259314266087,
+                    -0.6008308117019109,
+                    -0.5932959313080743
+                ]
+            ],
+            "translation_vector": [
+                0.7185312599228358,
+                -0.0925904706536635,
+                0.40116761228655623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8550398987151341,
+                    0.2150051970330384,
+                    0.47188932691256913
+                ],
+                [
+                    -0.15844916839581139,
+                    -0.7581508681578999,
+                    0.6325354710576305
+                ],
+                [
+                    0.49376171645834294,
+                    -0.6156135365310017,
+                    -0.6141818468498592
+                ]
+            ],
+            "translation_vector": [
+                0.7136685909247277,
+                -0.09890016353233083,
+                0.4021414666536142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8855158140068505,
+                    0.19343319724652583,
+                    0.42242791260376245
+                ],
+                [
+                    -0.14527852697355836,
+                    -0.748339320184243,
+                    0.6472112572155855
+                ],
+                [
+                    0.44131155972190267,
+                    -0.6344855081632459,
+                    -0.6345646123025218
+                ]
+            ],
+            "translation_vector": [
+                0.7073219983223127,
+                -0.1068307622584371,
+                0.4050617473252159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9033070586168487,
+                    0.17568698412588074,
+                    0.39136995472535896
+                ],
+                [
+                    -0.14017559309756103,
+                    -0.7413423933447858,
+                    0.6563248120630303
+                ],
+                [
+                    0.4054468657576774,
+                    -0.6477233510061047,
+                    -0.6450327895608863
+                ]
+            ],
+            "translation_vector": [
+                0.7037939596307888,
+                -0.11300745564255038,
+                0.4080363736265236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9180627850569621,
+                    0.16190798773342888,
+                    0.36186534263668624
+                ],
+                [
+                    -0.13367874172095498,
+                    -0.732905508908346,
+                    0.6670678443934326
+                ],
+                [
+                    0.37321671546885027,
+                    -0.6607838667218734,
+                    -0.6512096166172097
+                ]
+            ],
+            "translation_vector": [
+                0.6996170427200352,
+                -0.11970085435231424,
+                0.412201586220982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9291072793529764,
+                    0.15431520169786897,
+                    0.3360751135955425
+                ],
+                [
+                    -0.1220692967970878,
+                    -0.7298664175427021,
+                    0.6726024823942052
+                ],
+                [
+                    0.3490827269183843,
+                    -0.6659443152909473,
+                    -0.6592870533378435
+                ]
+            ],
+            "translation_vector": [
+                0.6946341163106878,
+                -0.1286708501228476,
+                0.4160748560053711
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9342908730420945,
+                    0.1487171105894936,
+                    0.324012014542908
+                ],
+                [
+                    -0.1168190813372802,
+                    -0.7309586340794504,
+                    0.6723487023116935
+                ],
+                [
+                    0.3368291358920057,
+                    -0.6660200419526554,
+                    -0.6655549841535472
+                ]
+            ],
+            "translation_vector": [
+                0.6920769936179298,
+                -0.13511473464716134,
+                0.4179317481843186
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9409118364773051,
+                    0.13621758387707708,
+                    0.31004787665713324
+                ],
+                [
+                    -0.11584026587531764,
+                    -0.7308485059265539,
+                    0.6726377139195064
+                ],
+                [
+                    0.31822311163528205,
+                    -0.6688088151539389,
+                    -0.6718845287648343
+                ]
+            ],
+            "translation_vector": [
+                0.6897847378315245,
+                -0.14256568395582506,
+                0.42035010990853383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9481719802824555,
+                    0.12342978372207031,
+                    0.2928053693113744
+                ],
+                [
+                    -0.11282588429880781,
+                    -0.7306560681893145,
+                    0.6733587675602988
+                ],
+                [
+                    0.29705254693309635,
+                    -0.6714959407981966,
+                    -0.6788615365832017
+                ]
+            ],
+            "translation_vector": [
+                0.6861430125744012,
+                -0.15211122972833974,
+                0.42378812925350345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9521756512687003,
+                    0.11527728676650524,
+                    0.282971158047564
+                ],
+                [
+                    -0.11146545292495708,
+                    -0.7312299906640005,
+                    0.6729622229796854
+                ],
+                [
+                    0.28449425641875575,
+                    -0.6723197512413857,
+                    -0.6834099576063117
+                ]
+            ],
+            "translation_vector": [
+                0.683746063409764,
+                -0.15883448989074217,
+                0.42617863270006556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9554389457574971,
+                    0.10728933152476368,
+                    0.27500076412761515
+                ],
+                [
+                    -0.11063169398899518,
+                    -0.7335586467210679,
+                    0.6705612127955815
+                ],
+                [
+                    0.2736732526479856,
+                    -0.671104098602985,
+                    -0.6890008995809417
+                ]
+            ],
+            "translation_vector": [
+                0.6813632754274681,
+                -0.16580592478436904,
+                0.4281219131085249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9584235246662008,
+                    0.0992742333454362,
+                    0.26752378204580723
+                ],
+                [
+                    -0.10930005423823008,
+                    -0.7383063482326713,
+                    0.6655503243954267
+                ],
+                [
+                    0.26358650479479534,
+                    -0.6671194516374214,
+                    -0.6967594934674733
+                ]
+            ],
+            "translation_vector": [
+                0.6788031805818658,
+                -0.17334213533852397,
+                0.4298826405553985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9613312042321185,
+                    0.09161042749112003,
+                    0.25971108051933267
+                ],
+                [
+                    -0.10797649503057428,
+                    -0.7421593223188278,
+                    0.6614685304806049
+                ],
+                [
+                    0.25334441436616956,
+                    -0.6639330311636507,
+                    -0.7035691421881077
+                ]
+            ],
+            "translation_vector": [
+                0.6767191150020663,
+                -0.179053857647131,
+                0.4312191305292406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9632540498700255,
+                    0.08668706032925845,
+                    0.254218388360218
+                ],
+                [
+                    -0.10661724526125778,
+                    -0.7453168943142161,
+                    0.6581302986967801
+                ],
+                [
+                    0.24652464059784351,
+                    -0.6610507398235658,
+                    -0.7086871813126162
+                ]
+            ],
+            "translation_vector": [
+                0.675104737442018,
+                -0.18336626163240138,
+                0.4324400886078334
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650399897851507,
+                    0.08072979272398856,
+                    0.24936021872427544
+                ],
+                [
+                    -0.10556052115927514,
+                    -0.7511011411909712,
+                    0.6516932192943264
+                ],
+                [
+                    0.2399058033646932,
+                    -0.655232612335774,
+                    -0.7163207586295252
+                ]
+            ],
+            "translation_vector": [
+                0.6730969173759298,
+                -0.19024283177239293,
+                0.43484947691326253
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.966146647043499,
+                    0.07560009234973711,
+                    0.24666836530717942
+                ],
+                [
+                    -0.10643524683824511,
+                    -0.7541501447532364,
+                    0.6480193649877711
+                ],
+                [
+                    0.2350153072399471,
+                    -0.6523359450508485,
+                    -0.7205731192304703
+                ]
+            ],
+            "translation_vector": [
+                0.6719766836575966,
+                -0.19483900057477957,
+                0.4368204720978509
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9670546186062292,
+                    0.07109631647736793,
+                    0.2444395189320068
+                ],
+                [
+                    -0.10765235480095894,
+                    -0.7559158752621294,
+                    0.6457570441214696
+                ],
+                [
+                    0.23068666007849145,
+                    -0.6507968218346177,
+                    -0.7233582525635496
+                ]
+            ],
+            "translation_vector": [
+                0.671001744198569,
+                -0.19868643672799396,
+                0.4387504172331514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9672400821176981,
+                    0.06876549431903717,
+                    0.2443725236928395
+                ],
+                [
+                    -0.10855078356854721,
+                    -0.7581438405918643,
+                    0.6429888368854257
+                ],
+                [
+                    0.2294849688576647,
+                    -0.6484514043193034,
+                    -0.7258425623402917
+                ]
+            ],
+            "translation_vector": [
+                0.6697912135600815,
+                -0.2031314028856584,
+                0.44098092879609263
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9670285044136405,
+                    0.06863140800546833,
+                    0.24524600197904328
+                ],
+                [
+                    -0.1091877331838429,
+                    -0.7582663897394516,
+                    0.6427364320727992
+                ],
+                [
+                    0.2300737068282508,
+                    -0.6483223056680104,
+                    -0.7257715049515399
+                ]
+            ],
+            "translation_vector": [
+                0.6697885908821486,
+                -0.20377099907687116,
+                0.44148888146857873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9670889815655761,
+                    0.06894056518459078,
+                    0.24492059980019235
+                ],
+                [
+                    -0.10887251793530836,
+                    -0.7578966928488328,
+                    0.6432257595955158
+                ],
+                [
+                    0.2299688600069208,
+                    -0.6487216671584441,
+                    -0.7254478078995662
+                ]
+            ],
+            "translation_vector": [
+                0.6697730543425379,
+                -0.2035540951901572,
+                0.4414628504539507
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9670268314444738,
+                    0.06971866018682332,
+                    0.24494574029408123
+                ],
+                [
+                    -0.10872225224290057,
+                    -0.756736132198017,
+                    0.6446160858163689
+                ],
+                [
+                    0.2303010619465146,
+                    -0.6499921035272195,
+                    -0.7242041744001261
+                ]
+            ],
+            "translation_vector": [
+                0.6699907885951202,
+                -0.20277576373822687,
+                0.44141075004644703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9668810153107724,
+                    0.0701420751754384,
+                    0.24540006422511998
+                ],
+                [
+                    -0.1089834993301119,
+                    -0.7559674300369095,
+                    0.6454733469301065
+                ],
+                [
+                    0.2307892959072698,
+                    -0.6508404827709116,
+                    -0.7232862274930674
+                ]
+            ],
+            "translation_vector": [
+                0.6702414741772178,
+                -0.2021843169153406,
+                0.44135662624662686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9667577412713393,
+                    0.0704212829658711,
+                    0.24580543646831507
+                ],
+                [
+                    -0.10915660466683556,
+                    -0.7556588649978369,
+                    0.6458053231491588
+                ],
+                [
+                    0.2312234965342977,
+                    -0.651168582362219,
+                    -0.7228521093521358
+                ]
+            ],
+            "translation_vector": [
+                0.6705649154023178,
+                -0.20145363091748372,
+                0.4409813591650604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9666417860396032,
+                    0.07094259244490404,
+                    0.2461113692200388
+                ],
+                [
+                    -0.10917255109626087,
+                    -0.7551018608246317,
+                    0.6464538141787959
+                ],
+                [
+                    0.23170026234188928,
+                    -0.6517578755614504,
+                    -0.7221680275907574
+                ]
+            ],
+            "translation_vector": [
+                0.6708863902696203,
+                -0.20053320337846392,
+                0.4405689999219921
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9665502068085752,
+                    0.0709745779989806,
+                    0.2464615730619435
+                ],
+                [
+                    -0.10940784048393874,
+                    -0.7550322292314616,
+                    0.646495365228871
+                ],
+                [
+                    0.23197116665426795,
+                    -0.6518350574337322,
+                    -0.7220113820026813
+                ]
+            ],
+            "translation_vector": [
+                0.6711018038536001,
+                -0.20009121188241763,
+                0.4402651066039928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9665557982617777,
+                    0.0712227381541811,
+                    0.24636803854469197
+                ],
+                [
+                    -0.10930357348445095,
+                    -0.7546327324564969,
+                    0.6469792639094167
+                ],
+                [
+                    0.2319970208215336,
+                    -0.6522704658920734,
+                    -0.7216097433203563
+                ]
+            ],
+            "translation_vector": [
+                0.6712412517653707,
+                -0.19948076525331981,
+                0.4399306596036658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9663718134255386,
+                    0.07104011161810436,
+                    0.2471412971518999
+                ],
+                [
+                    -0.11003220994110598,
+                    -0.7544199290125766,
+                    0.6471039201582197
+                ],
+                [
+                    0.23241865456996516,
+                    -0.6525364918914087,
+                    -0.7212334544084467
+                ]
+            ],
+            "translation_vector": [
+                0.6715938389222044,
+                -0.19893185989220868,
+                0.43957784489668883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9663142921968038,
+                    0.07107771203126627,
+                    0.24735530628751617
+                ],
+                [
+                    -0.11015244979274992,
+                    -0.7544065734607459,
+                    0.6470990339382934
+                ],
+                [
+                    0.23260078783367494,
+                    -0.6525478379181232,
+                    -0.7211644699564289
+                ]
+            ],
+            "translation_vector": [
+                0.6718094913706155,
+                -0.19838764146418675,
+                0.43915474568351387
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9663316572762884,
+                    0.0711810626065697,
+                    0.24725772884150968
+                ],
+                [
+                    -0.11002232411708127,
+                    -0.754373727780187,
+                    0.647159460280772
+                ],
+                [
+                    0.2325902326873118,
+                    -0.6525745437582008,
+                    -0.7211437086304214
+                ]
+            ],
+            "translation_vector": [
+                0.6718955965153743,
+                -0.19801026812508452,
+                0.43885253641760025
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9661770470156938,
+                    0.0711729599484245,
+                    0.24786351807439075
+                ],
+                [
+                    -0.1105027442411225,
+                    -0.7541812668054299,
+                    0.6473019081656861
+                ],
+                [
+                    0.23300441484060974,
+                    -0.6527978451036257,
+                    -0.7208078218865608
+                ]
+            ],
+            "translation_vector": [
+                0.6721699274333792,
+                -0.19752952129857826,
+                0.4385741474026521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9661231002105961,
+                    0.07121533904251776,
+                    0.24806154624311672
+                ],
+                [
+                    -0.11059463461237691,
+                    -0.7542076741862037,
+                    0.6472554449315912
+                ],
+                [
+                    0.23318443780497342,
+                    -0.6527627131536362,
+                    -0.7207814219871945
+                ]
+            ],
+            "translation_vector": [
+                0.6723051172766449,
+                -0.19719848174129284,
+                0.4383127819074371
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9661079728134131,
+                    0.07114948863536168,
+                    0.24813934620145187
+                ],
+                [
+                    -0.11070503521299578,
+                    -0.754180896067207,
+                    0.6472677739434849
+                ],
+                [
+                    0.23319472559396973,
+                    -0.6528008320109523,
+                    -0.7207435699893284
+                ]
+            ],
+            "translation_vector": [
+                0.6724101084620252,
+                -0.19691880299124603,
+                0.4380763183126454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9660006358625965,
+                    0.07115068505733188,
+                    0.24855653588053495
+                ],
+                [
+                    -0.1110594784267879,
+                    -0.7539688844307215,
+                    0.6474540242842446
+                ],
+                [
+                    0.23347069144676194,
+                    -0.6530455583848386,
+                    -0.7204324638085136
+                ]
+            ],
+            "translation_vector": [
+                0.6726115421760496,
+                -0.1965442445052451,
+                0.4378864856003703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9659676352804443,
+                    0.07106188526495838,
+                    0.24871014465296049
+                ],
+                [
+                    -0.11130764354259648,
+                    -0.7537463512763525,
+                    0.6476704767291621
+                ],
+                [
+                    0.23348904916441146,
+                    -0.6533120589734861,
+                    -0.7201848495491444
+                ]
+            ],
+            "translation_vector": [
+                0.6727403170372351,
+                -0.19626600501122538,
+                0.43773820767826904
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9659147659298933,
+                    0.071000553207387,
+                    0.24893289538115285
+                ],
+                [
+                    -0.11153386194720727,
+                    -0.7536581485565264,
+                    0.6477341991538581
+                ],
+                [
+                    0.2335997915190429,
+                    -0.653420474548046,
+                    -0.7200505682545261
+                ]
+            ],
+            "translation_vector": [
+                0.6728496981159326,
+                -0.19608342498042838,
+                0.4376355818127119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965845170257496,
+                    0.07106913205752882,
+                    0.249183236913839
+                ],
+                [
+                    -0.11171488439907258,
+                    -0.7534797747743757,
+                    0.6479104981474356
+                ],
+                [
+                    0.23380096598168867,
+                    -0.653618701900845,
+                    -0.7198053214803873
+                ]
+            ],
+            "translation_vector": [
+                0.6730003822672042,
+                -0.1957294345650254,
+                0.4374558130439795
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9658182290177606,
+                    0.07115611970688669,
+                    0.24926282339180805
+                ],
+                [
+                    -0.11172142878099231,
+                    -0.7534311039492939,
+                    0.6479659666625108
+                ],
+                [
+                    0.233909108091434,
+                    -0.6536653411570845,
+                    -0.7197278311430386
+                ]
+            ],
+            "translation_vector": [
+                0.6730755488542246,
+                -0.1955243661674798,
+                0.43733639050909334
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965810461507757,
+                    0.0711054798942885,
+                    0.2493073668610208
+                ],
+                [
+                    -0.11179507296276726,
+                    -0.7534133500666417,
+                    0.6479739081186904
+                ],
+                [
+                    0.23390599415881208,
+                    -0.6536913145134808,
+                    -0.719705253021134
+                ]
+            ],
+            "translation_vector": [
+                0.6731398964571617,
+                -0.19537937535407965,
+                0.43721871395702533
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9657528350624884,
+                    0.0711170186219464,
+                    0.2495272154116499
+                ],
+                [
+                    -0.11190242703347322,
+                    -0.7535016531795762,
+                    0.6478526881009786
+                ],
+                [
+                    0.23409252100992972,
+                    -0.653588271251842,
+                    -0.7197381907952669
+                ]
+            ],
+            "translation_vector": [
+                0.6732388701808399,
+                -0.1951836392073078,
+                0.43704360617842364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656902889788141,
+                    0.07105541955509895,
+                    0.24978669524989452
+                ],
+                [
+                    -0.11208805487221739,
+                    -0.7535963456414749,
+                    0.6477104413167798
+                ],
+                [
+                    0.2342616778881633,
+                    -0.6534857880533164,
+                    -0.7197762090298337
+                ]
+            ],
+            "translation_vector": [
+                0.6733446244928047,
+                -0.1950575171284033,
+                0.43691542606642353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656257531591993,
+                    0.0710103312223232,
+                    0.25004887061417536
+                ],
+                [
+                    -0.11230315157205577,
+                    -0.7535797854793213,
+                    0.6476924494418038
+                ],
+                [
+                    0.23442462964183722,
+                    -0.6535097855247737,
+                    -0.7197013639285751
+                ]
+            ],
+            "translation_vector": [
+                0.6734441486935885,
+                -0.19491935092261828,
+                0.43682103252717364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655834834142978,
+                    0.07108548895036443,
+                    0.2501907068981556
+                ],
+                [
+                    -0.11238074982327775,
+                    -0.7534739715547336,
+                    0.6478020849446957
+                ],
+                [
+                    0.2345615135239987,
+                    -0.6536236129839745,
+                    -0.7195533815660288
+                ]
+            ],
+            "translation_vector": [
+                0.673522878309346,
+                -0.19471127067141378,
+                0.43671709136959547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655494298769546,
+                    0.07110405759241242,
+                    0.2503168221637989
+                ],
+                [
+                    -0.11247241374404757,
+                    -0.7534161235975332,
+                    0.6478534563077168
+                ],
+                [
+                    0.2346577392946498,
+                    -0.6536882725712325,
+                    -0.7194632636152888
+                ]
+            ],
+            "translation_vector": [
+                0.6735845878060437,
+                -0.194593732644594,
+                0.43666212260782367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655262550947975,
+                    0.07121581268909384,
+                    0.25037443708503476
+                ],
+                [
+                    -0.11244634406018937,
+                    -0.7533665556759984,
+                    0.647915621432591
+                ],
+                [
+                    0.23476556483035077,
+                    -0.6537332336755681,
+                    -0.719387231439349
+                ]
+            ],
+            "translation_vector": [
+                0.6736202152339632,
+                -0.19446132874667227,
+                0.4365902139741828
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654957560336784,
+                    0.07118211300441352,
+                    0.25050160053217735
+                ],
+                [
+                    -0.1125359109525056,
+                    -0.7534240389888125,
+                    0.647833224078446
+                ],
+                [
+                    0.23484806541048062,
+                    -0.6536706542763039,
+                    -0.7194171682069753
+                ]
+            ],
+            "translation_vector": [
+                0.673678604428482,
+                -0.1943441907271688,
+                0.436460250029746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654856180400643,
+                    0.07116117550089265,
+                    0.2505466193328633
+                ],
+                [
+                    -0.11257416512378085,
+                    -0.7534446738453412,
+                    0.6478025785690975
+                ],
+                [
+                    0.23487140886978844,
+                    -0.6536491494337151,
+                    -0.719429086665324
+                ]
+            ],
+            "translation_vector": [
+                0.6737070439086307,
+                -0.1942866028507808,
+                0.4363966974213964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654489178728431,
+                    0.07119122520953468,
+                    0.25067946950502523
+                ],
+                [
+                    -0.11263228445327056,
+                    -0.7534692285560547,
+                    0.6477639154182494
+                ],
+                [
+                    0.234994373287943,
+                    -0.65361757249351,
+                    -0.7194176210315518
+                ]
+            ],
+            "translation_vector": [
+                0.6737536218058929,
+                -0.19420662360215352,
+                0.4363315497937954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654413160538022,
+                    0.07124056199819051,
+                    0.2506947298657956
+                ],
+                [
+                    -0.11262919910633479,
+                    -0.753404955594847,
+                    0.6478392056627884
+                ],
+                [
+                    0.23502708091828028,
+                    -0.6536862819512959,
+                    -0.7193445044092042
+                ]
+            ],
+            "translation_vector": [
+                0.6737852448928864,
+                -0.19407550193779813,
+                0.4362447872507667
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654185187331997,
+                    0.07129390572482963,
+                    0.25076734774187337
+                ],
+                [
+                    -0.11263831758051909,
+                    -0.7534055679150794,
+                    0.6478369082162475
+                ],
+                [
+                    0.23511633949945862,
+                    -0.6536797604645992,
+                    -0.719321261787332
+                ]
+            ],
+            "translation_vector": [
+                0.6738161278899072,
+                -0.1939936342921886,
+                0.43618308304350223
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d595f68e02e5a6c67d0dbf90083d35820940e80f
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 329.2693976636203,
+        "fy": 435.221923828125,
+        "ppx": 320.64483066774767,
+        "ppy": 244.24607849121094,
+        "distortion_model": "plumb bob",
+        "k1": -0.0537944994866848,
+        "k2": 0.05684778466820717,
+        "k3": -0.018539847806096077,
+        "p1": -0.00015508777869399637,
+        "p2": 0.0015935895498842
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa70f0a2243d61f023c92df2c265a18a8d7fdd3d
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.002591711941905328,
+                0.07098337599553736,
+                -0.9974741316753465
+            ],
+            [
+                -0.010268024075381176,
+                -0.9974230077682127,
+                -0.07100641700719237
+            ],
+            [
+                -0.9999439237831277,
+                0.010426116577521839,
+                -0.001856174106690034
+            ]
+        ],
+        "translation_vector": [
+            -0.10471075297878585,
+            0.06719411554104168,
+            -0.01278369288916334
+        ]
+    }
+}
diff --git a/parameters/1957/1237123/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad03bbb5908a289ad35fd1af851595e5cd385dc6
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535457647023054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535451700381221
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535451700381221
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535451700381221
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535450520432614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535450520432614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884740280947,
+                    -0.9339684438792376,
+                    0.35720433057925166
+                ],
+                [
+                    -0.9999440222573087,
+                    0.010416265338433683,
+                    -0.001858431670765276
+                ],
+                [
+                    -0.0019850185517506233,
+                    -0.35720364955329814,
+                    -0.9340244174790905
+                ]
+            ],
+            "translation_vector": [
+                0.5967142307380575,
+                -0.012781639300269126,
+                0.6535445659205458
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884740280947,
+                    -0.9339684438792376,
+                    0.35720433057925166
+                ],
+                [
+                    -0.9999440222573087,
+                    0.010416265338433683,
+                    -0.001858431670765276
+                ],
+                [
+                    -0.0019850185517506233,
+                    -0.35720364955329814,
+                    -0.9340244174790905
+                ]
+            ],
+            "translation_vector": [
+                0.5967142307380575,
+                -0.012781639300269126,
+                0.6535445659205458
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392974150978743,
+                    -0.9339844830168869,
+                    0.3571623882381451
+                ],
+                [
+                    -0.9999440222551504,
+                    0.010416265460135526,
+                    -0.0018584321497190784
+                ],
+                [
+                    -0.001984551457687138,
+                    -0.3571617097303999,
+                    -0.9340404566494801
+                ]
+            ],
+            "translation_vector": [
+                0.5967092421619796,
+                -0.012781639364426663,
+                0.6535418977602147
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392944935312363,
+                    -0.9339792467236211,
+                    0.35717608176521143
+                ],
+                [
+                    -0.9999440222560899,
+                    0.010416265403318395,
+                    -0.00185843196262502
+                ],
+                [
+                    -0.0019847039788441993,
+                    -0.35717540243502915,
+                    -0.934035220345299
+                ]
+            ],
+            "translation_vector": [
+                0.5967125531091919,
+                -0.012781639332966574,
+                0.6535411197714733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392944935312363,
+                    -0.9339792467236211,
+                    0.35717608176521143
+                ],
+                [
+                    -0.9999440222560899,
+                    0.010416265403318395,
+                    -0.00185843196262502
+                ],
+                [
+                    -0.0019847039788441993,
+                    -0.35717540243502915,
+                    -0.934035220345299
+                ]
+            ],
+            "translation_vector": [
+                0.5967125531091919,
+                -0.012781639332966574,
+                0.6535411197714733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393016549953008,
+                    -0.9339920922368782,
+                    0.35714248815559785
+                ],
+                [
+                    -0.9999440222542594,
+                    0.010416265508239259,
+                    -0.0018584323596096556
+                ],
+                [
+                    -0.0019843298530693877,
+                    -0.3571418108424731,
+                    -0.9340480658848311
+                ]
+            ],
+            "translation_vector": [
+                0.5967078251953634,
+                -0.012781639388929877,
+                0.653539657550809
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392946467939432,
+                    -0.933979519844508,
+                    0.35717536753636464
+                ],
+                [
+                    -0.9999440222559649,
+                    0.010416265411821373,
+                    -0.0018584319823480014
+                ],
+                [
+                    -0.0019846960162865674,
+                    -0.35717468824917187,
+                    -0.9340354934668329
+                ]
+            ],
+            "translation_vector": [
+                0.5967118348467603,
+                -0.012781639338017183,
+                0.6535417238912209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392946467939432,
+                    -0.933979519844508,
+                    0.35717536753636464
+                ],
+                [
+                    -0.9999440222559649,
+                    0.010416265411821373,
+                    -0.0018584319823480014
+                ],
+                [
+                    -0.0019846960162865674,
+                    -0.35717468824917187,
+                    -0.9340354934668329
+                ]
+            ],
+            "translation_vector": [
+                0.5967118348467603,
+                -0.012781639338017183,
+                0.6535417238912209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392967318237148,
+                    -0.9339832587217146,
+                    0.3571655899689797
+                ],
+                [
+                    -0.9999440222553873,
+                    0.010416265445619542,
+                    -0.0018584321037598832
+                ],
+                [
+                    -0.001984587120775449,
+                    -0.3571649112689174,
+                    -0.9340392323517396
+                ]
+            ],
+            "translation_vector": [
+                0.5967101375460344,
+                -0.012781639356313155,
+                0.653541649965307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039284574413976,
+                    -0.9339614455912165,
+                    0.35722262933149135
+                ],
+                [
+                    -0.9999440222580813,
+                    0.010416265297600976,
+                    -0.0018584314838515047
+                ],
+                [
+                    -0.001985222322233249,
+                    -0.3572219472070767,
+                    -0.934017419176921
+                ]
+            ],
+            "translation_vector": [
+                0.5967151998772504,
+                -0.012781639279823355,
+                0.6535470445563074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039284574413976,
+                    -0.9339614455912165,
+                    0.35722262933149135
+                ],
+                [
+                    -0.9999440222580813,
+                    0.010416265297600976,
+                    -0.0018584314838515047
+                ],
+                [
+                    -0.001985222322233249,
+                    -0.3572219472070767,
+                    -0.934017419176921
+                ]
+            ],
+            "translation_vector": [
+                0.5967151998772504,
+                -0.012781639279823355,
+                0.6535470445563074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039292868190467,
+                    -0.933976327120043,
+                    0.35718371661200854
+                ],
+                [
+                    -0.9999440222562921,
+                    0.010416265395030332,
+                    -0.0018584319003814413
+                ],
+                [
+                    -0.0019847889864931167,
+                    -0.35718303682366426,
+                    -0.9340323007359566
+                ]
+            ],
+            "translation_vector": [
+                0.5967120956096756,
+                -0.012781639329822451,
+                0.6535430060601193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535433277889079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535433277889079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.6535440498983747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.6535440498983747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.653544211940069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.653544211940069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434040828532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535461721874547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535461721874547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458826987164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392849161614325,
+                    -0.9339620578379291,
+                    0.35722102850398485
+                ],
+                [
+                    -0.9999440222579628,
+                    0.010416265304857342,
+                    -0.0018584315068315238
+                ],
+                [
+                    -0.001985204490900358,
+                    -0.3572203464757285,
+                    -0.9340180314249239
+                ]
+            ],
+            "translation_vector": [
+                0.5967147521975202,
+                -0.012781639283880023,
+                0.6535472065947844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392849161614325,
+                    -0.9339620578379291,
+                    0.35722102850398485
+                ],
+                [
+                    -0.9999440222579628,
+                    0.010416265304857342,
+                    -0.0018584315068315238
+                ],
+                [
+                    -0.001985204490900358,
+                    -0.3572203464757285,
+                    -0.9340180314249239
+                ]
+            ],
+            "translation_vector": [
+                0.5967147521975202,
+                -0.012781639283880023,
+                0.6535472065947844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468085563265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535457301108258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535454500742381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535454500742381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535457301108258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535457647023054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535463342269029
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392974502291362,
+                    -0.9339845489403351,
+                    0.3571622158371656
+                ],
+                [
+                    -0.999944022255283,
+                    0.010416265450386743,
+                    -0.001858432133252969
+                ],
+                [
+                    -0.001984549551295824,
+                    -0.35716153733959993,
+                    -0.9340405225729197
+                ]
+            ],
+            "translation_vector": [
+                0.5967102310028112,
+                -0.012781639358382156,
+                0.6535410041576406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392974502291362,
+                    -0.9339845489403351,
+                    0.3571622158371656
+                ],
+                [
+                    -0.999944022255283,
+                    0.010416265450386743,
+                    -0.001858432133252969
+                ],
+                [
+                    -0.001984549551295824,
+                    -0.35716153733959993,
+                    -0.9340405225729197
+                ]
+            ],
+            "translation_vector": [
+                0.5967102310028112,
+                -0.012781639358382156,
+                0.6535410041576406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392924913781753,
+                    -0.933975649009564,
+                    0.3571854898633205
+                ],
+                [
+                    -0.9999440222562781,
+                    0.010416265397521034,
+                    -0.0018584318938680434
+                ],
+                [
+                    -0.001984808724344497,
+                    -0.3571848099686381,
+                    -0.9340316226241999
+                ]
+            ],
+            "translation_vector": [
+                0.5967115544572429,
+                -0.012781639331810205,
+                0.6535438902097579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392953301054204,
+                    -0.9339807441731944,
+                    0.35717216581834665
+                ],
+                [
+                    -0.9999440222557284,
+                    0.010416265426336562,
+                    -0.00185843202830731
+                ],
+                [
+                    -0.001984660353269592,
+                    -0.3571714867234709,
+                    -0.9340367177980898
+                ]
+            ],
+            "translation_vector": [
+                0.5967109394684279,
+                -0.012781639346130637,
+                0.6535420479795879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392953301054204,
+                    -0.9339807441731944,
+                    0.35717216581834665
+                ],
+                [
+                    -0.9999440222557284,
+                    0.010416265426336562,
+                    -0.00185843202830731
+                ],
+                [
+                    -0.001984660353269592,
+                    -0.3571714867234709,
+                    -0.9340367177980898
+                ]
+            ],
+            "translation_vector": [
+                0.5967109394684279,
+                -0.012781639346130637,
+                0.6535420479795879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392774927701619,
+                    -0.9339487384966061,
+                    0.3572558524221836
+                ],
+                [
+                    -0.9999440222595223,
+                    0.01041626522071043,
+                    -0.0018584311395148882
+                ],
+                [
+                    -0.001985592292147763,
+                    -0.3572551683033441,
+                    -0.934004712056529
+                ]
+            ],
+            "translation_vector": [
+                0.5967172315281133,
+                -0.012781639241001175,
+                0.6535511271895496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392815464241647,
+                    -0.9339560106033661,
+                    0.3572368397080173
+                ],
+                [
+                    -0.9999440222586242,
+                    0.01041626527003808,
+                    -0.00185843134615377
+                ],
+                [
+                    -0.001985380560594805,
+                    -0.35723615673062775,
+                    -0.9340119841781264
+                ]
+            ],
+            "translation_vector": [
+                0.5967155442040847,
+                -0.012781639266497166,
+                0.6535494052107879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392815464241647,
+                    -0.9339560106033661,
+                    0.3572368397080173
+                ],
+                [
+                    -0.9999440222586242,
+                    0.01041626527003808,
+                    -0.00185843134615377
+                ],
+                [
+                    -0.001985380560594805,
+                    -0.35723615673062775,
+                    -0.9340119841781264
+                ]
+            ],
+            "translation_vector": [
+                0.5967155442040847,
+                -0.012781639266497166,
+                0.6535494052107879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392819233450572,
+                    -0.9339566888113264,
+                    0.3572350664939886
+                ],
+                [
+                    -0.9999440222586383,
+                    0.010416265267547327,
+                    -0.001858431352667227
+                ],
+                [
+                    -0.001985360822951174,
+                    -0.3572343836229371,
+                    -0.93401266238737
+                ]
+            ],
+            "translation_vector": [
+                0.5967160853668428,
+                -0.012781639264509417,
+                0.6535484447596294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392861649668156,
+                    -0.9339642995796622,
+                    0.3572151670035898
+                ],
+                [
+                    -0.9999440222577473,
+                    0.010416265315634126,
+                    -0.0018584315625619031
+                ],
+                [
+                    -0.001985139221633125,
+                    -0.3572144853271575,
+                    -0.9340202731711583
+                ]
+            ],
+            "translation_vector": [
+                0.5967146685745455,
+                -0.012781639289011775,
+                0.6535462044399739
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392861649668156,
+                    -0.9339642995796622,
+                    0.3572151670035898
+                ],
+                [
+                    -0.9999440222577473,
+                    0.010416265315634126,
+                    -0.0018584315625619031
+                ],
+                [
+                    -0.001985139221633125,
+                    -0.3572144853271575,
+                    -0.9340202731711583
+                ]
+            ],
+            "translation_vector": [
+                0.5967146685745455,
+                -0.012781639289011775,
+                0.6535462044399739
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039295706889543,
+                    -0.9339814222583791,
+                    0.35717039255736155
+                ],
+                [
+                    -0.9999440222557421,
+                    0.010416265423845926,
+                    -0.0018584320348209247
+                ],
+                [
+                    -0.0019846406153641687,
+                    -0.35716971356882377,
+                    -0.9340373958845505
+                ]
+            ],
+            "translation_vector": [
+                0.5967114806173632,
+                -0.01278163934414291,
+                0.6535412401250622
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039295706889543,
+                    -0.9339814222583791,
+                    0.35717039255736155
+                ],
+                [
+                    -0.9999440222557421,
+                    0.010416265423845926,
+                    -0.0018584320348209247
+                ],
+                [
+                    -0.0019846406153641687,
+                    -0.35716971356882377,
+                    -0.9340373958845505
+                ]
+            ],
+            "translation_vector": [
+                0.5967114806173632,
+                -0.01278163934414291,
+                0.6535412401250622
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392946467939432,
+                    -0.933979519844508,
+                    0.35717536753636464
+                ],
+                [
+                    -0.9999440222559649,
+                    0.010416265411821373,
+                    -0.0018584319823480014
+                ],
+                [
+                    -0.0019846960162865674,
+                    -0.35717468824917187,
+                    -0.9340354934668329
+                ]
+            ],
+            "translation_vector": [
+                0.5967118348467603,
+                -0.012781639338017183,
+                0.6535417238912209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039295706889543,
+                    -0.9339814222583791,
+                    0.35717039255736155
+                ],
+                [
+                    -0.9999440222557421,
+                    0.010416265423845926,
+                    -0.0018584320348209247
+                ],
+                [
+                    -0.0019846406153641687,
+                    -0.35716971356882377,
+                    -0.9340373958845505
+                ]
+            ],
+            "translation_vector": [
+                0.5967114806173632,
+                -0.01278163934414291,
+                0.6535411638311169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039295706889543,
+                    -0.9339814222583791,
+                    0.35717039255736155
+                ],
+                [
+                    -0.9999440222557421,
+                    0.010416265423845926,
+                    -0.0018584320348209247
+                ],
+                [
+                    -0.0019846406153641687,
+                    -0.35716971356882377,
+                    -0.9340373958845505
+                ]
+            ],
+            "translation_vector": [
+                0.5967114806173632,
+                -0.01278163934414291,
+                0.6535411638311169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392923381068273,
+                    -0.9339753758809377,
+                    0.3571862040892075
+                ],
+                [
+                    -0.9999440222564037,
+                    0.010416265389018135,
+                    -0.001858431874144891
+                ],
+                [
+                    -0.001984816686885608,
+                    -0.35718552415153576,
+                    -0.9340313494949263
+                ]
+            ],
+            "translation_vector": [
+                0.5967122727207524,
+                -0.012781639326759586,
+                0.6535432097985165
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392944583970914,
+                    -0.9339791807976141,
+                    0.3571762541652123
+                ],
+                [
+                    -0.9999440222559579,
+                    0.010416265413066679,
+                    -0.0018584319790910554
+                ],
+                [
+                    -0.0019847058852302518,
+                    -0.3571755748248504,
+                    -0.9340351544193009
+                ]
+            ],
+            "translation_vector": [
+                0.5967115642719708,
+                -0.012781639339011028,
+                0.6535421659659213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535438461585623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535438461585623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.6535443204789823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.6535443204789823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.6535442024862652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.653544329932604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.653544329932604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.653544329932604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535445242200415
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535445242200415
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535445242200415
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392857880880214,
+                    -0.9339636214094784,
+                    0.3572169402320673
+                ],
+                [
+                    -0.999944022257733,
+                    0.01041626531812507,
+                    -0.001858431556048432
+                ],
+                [
+                    -0.001985158959357476,
+                    -0.357216258449297,
+                    -0.9340195949996933
+                ]
+            ],
+            "translation_vector": [
+                0.5967141274160406,
+                -0.012781639290999534,
+                0.6535470885944973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468085563265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468085563265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535462901854161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535464427733066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535464427733066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460864418305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458826987164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458826987164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535448900024777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535448900024777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868484302044,
+                    -0.9339655240447658,
+                    0.357211965337744
+                ],
+                [
+                    -0.9999440222575103,
+                    0.010416265330147405,
+                    -0.0018584316085218469
+                ],
+                [
+                    -0.0019851035589069158,
+                    -0.35721128385362855,
+                    -0.9340214976388406
+                ]
+            ],
+            "translation_vector": [
+                0.5967137732115716,
+                -0.012781639297125145,
+                0.6535464522246821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440844945055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891223108814,
+                    -0.9339696023765688,
+                    0.357201301297433
+                ],
+                [
+                    -0.9999440222569398,
+                    0.01041626536269568,
+                    -0.001858431733191837
+                ],
+                [
+                    -0.001984984795321197,
+                    -0.3572006204536168,
+                    -0.9340255759790063
+                ]
+            ],
+            "translation_vector": [
+                0.5967123465308862,
+                -0.012781639314427051,
+                0.6535460887822946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919612892987,
+                    -0.9339746977657367,
+                    0.35718797733871355
+                ],
+                [
+                    -0.9999440222563898,
+                    0.010416265391509071,
+                    -0.0018584318676316438
+                ],
+                [
+                    -0.001984836424726924,
+                    -0.3571872972947036,
+                    -0.9340306713784471
+                ]
+            ],
+            "translation_vector": [
+                0.596711731567788,
+                -0.012781639328747374,
+                0.6535442465363821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919612892987,
+                    -0.9339746977657367,
+                    0.35718797733871355
+                ],
+                [
+                    -0.9999440222563898,
+                    0.010416265391509071,
+                    -0.0018584318676316438
+                ],
+                [
+                    -0.001984836424726924,
+                    -0.3571872972947036,
+                    -0.9340306713784471
+                ]
+            ],
+            "translation_vector": [
+                0.596711731567788,
+                -0.012781639328747374,
+                0.6535442465363821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392963901820464,
+                    -0.9339826465700133,
+                    0.35716719083282245
+                ],
+                [
+                    -0.9999440222555057,
+                    0.01041626543836164,
+                    -0.0018584320807801405
+                ],
+                [
+                    -0.00198460495231105,
+                    -0.3571665120366017,
+                    -0.9340386201987539
+                ]
+            ],
+            "translation_vector": [
+                0.5967105852371111,
+                -0.012781639352256397,
+                0.6535414879206982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392939283355995,
+                    -0.9339782295783814,
+                    0.3571787416500109
+                ],
+                [
+                    -0.9999440222560697,
+                    0.010416265407054523,
+                    -0.0018584319528546695
+                ],
+                [
+                    -0.001984733585665286,
+                    -0.35717806216032166,
+                    -0.9340342031981442
+                ]
+            ],
+            "translation_vector": [
+                0.5967117413852848,
+                -0.012781639335948185,
+                0.6535423697029036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392939283355995,
+                    -0.9339782295783814,
+                    0.3571787416500109
+                ],
+                [
+                    -0.9999440222560697,
+                    0.010416265407054523,
+                    -0.0018584319528546695
+                ],
+                [
+                    -0.001984733585665286,
+                    -0.35717806216032166,
+                    -0.9340342031981442
+                ]
+            ],
+            "translation_vector": [
+                0.5967117413852848,
+                -0.012781639335948185,
+                0.6535423697029036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392866599946832,
+                    -0.9339651849631343,
+                    0.35721285195330654
+                ],
+                [
+                    -0.9999440222575039,
+                    0.010416265331393067,
+                    -0.0018584316052650998
+                ],
+                [
+                    -0.001985113427776651,
+                    -0.35721217041602216,
+                    -0.9340211585565685
+                ]
+            ],
+            "translation_vector": [
+                0.5967135026322213,
+                -0.01278163929811905,
+                0.6535469705951676
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392855996472355,
+                    -0.9339632823231245,
+                    0.3572178268458237
+                ],
+                [
+                    -0.9999440222577264,
+                    0.01041626531937072,
+                    -0.0018584315527915736
+                ],
+                [
+                    -0.0019851688282170885,
+                    -0.35721714500988433,
+                    -0.9340192559126987
+                ]
+            ],
+            "translation_vector": [
+                0.5967138568361586,
+                -0.012781639291993423,
+                0.6535475306713737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392855996472355,
+                    -0.9339632823231245,
+                    0.3572178268458237
+                ],
+                [
+                    -0.9999440222577264,
+                    0.01041626531937072,
+                    -0.0018584315527915736
+                ],
+                [
+                    -0.0019851688282170885,
+                    -0.35721714500988433,
+                    -0.9340192559126987
+                ]
+            ],
+            "translation_vector": [
+                0.5967138568361586,
+                -0.012781639291993423,
+                0.6535475306713737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868484302044,
+                    -0.9339655240447658,
+                    0.357211965337744
+                ],
+                [
+                    -0.9999440222575103,
+                    0.010416265330147405,
+                    -0.0018584316085218469
+                ],
+                [
+                    -0.0019851035589069158,
+                    -0.35721128385362855,
+                    -0.9340214976388406
+                ]
+            ],
+            "translation_vector": [
+                0.5967137732115716,
+                -0.012781639297125145,
+                0.6535465285186274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392840090707145,
+                    -0.9339604283134294,
+                    0.35722528916559765
+                ],
+                [
+                    -0.9999440222580606,
+                    0.01041626530133742,
+                    -0.0018584314740813532
+                ],
+                [
+                    -0.0019852519287718072,
+                    -0.3572246068816762,
+                    -0.9340164018972107
+                ]
+            ],
+            "translation_vector": [
+                0.5967143881364712,
+                -0.01278163928280501,
+                0.6535483707892202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392840090707145,
+                    -0.9339604283134294,
+                    0.35722528916559765
+                ],
+                [
+                    -0.9999440222580606,
+                    0.01041626530133742,
+                    -0.0018584314740813532
+                ],
+                [
+                    -0.0019852519287718072,
+                    -0.3572246068816762,
+                    -0.9340164018972107
+                ]
+            ],
+            "translation_vector": [
+                0.5967143881364712,
+                -0.01278163928280501,
+                0.6535483707892202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392923029706352,
+                    -0.9339753099530627,
+                    0.35718637648849355
+                ],
+                [
+                    -0.9999440222562715,
+                    0.01041626539876655,
+                    -0.0018584318906112503
+                ],
+                [
+                    -0.0019848185932676483,
+                    -0.3571856965406422,
+                    -0.9340312835670596
+                ]
+            ],
+            "translation_vector": [
+                0.5967112838803971,
+                -0.012781639332804092,
+                0.6535443322841921
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392923029706352,
+                    -0.9339753099530627,
+                    0.35718637648849355
+                ],
+                [
+                    -0.9999440222562715,
+                    0.01041626539876655,
+                    -0.0018584318906112503
+                ],
+                [
+                    -0.0019848185932676483,
+                    -0.3571856965406422,
+                    -0.9340312835670596
+                ]
+            ],
+            "translation_vector": [
+                0.5967112838803971,
+                -0.012781639332804092,
+                0.6535443322841921
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392933982667081,
+                    -0.9339772783525243,
+                    0.35718122913227657
+                ],
+                [
+                    -0.999944022256181,
+                    0.01041626540104221,
+                    -0.0018584319266181266
+                ],
+                [
+                    -0.00198476128608615,
+                    -0.35718054949325967,
+                    -0.9340332519703627
+                ]
+            ],
+            "translation_vector": [
+                0.5967119184978531,
+                -0.01278163933288531,
+                0.6535428023221934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392933982667081,
+                    -0.9339772783525243,
+                    0.35718122913227657
+                ],
+                [
+                    -0.999944022256181,
+                    0.01041626540104221,
+                    -0.0018584319266181266
+                ],
+                [
+                    -0.00198476128608615,
+                    -0.35718054949325967,
+                    -0.9340332519703627
+                ]
+            ],
+            "translation_vector": [
+                0.5967119184978531,
+                -0.01278163933288531,
+                0.6535427260282483
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392933982667081,
+                    -0.9339772783525243,
+                    0.35718122913227657
+                ],
+                [
+                    -0.999944022256181,
+                    0.01041626540104221,
+                    -0.0018584319266181266
+                ],
+                [
+                    -0.00198476128608615,
+                    -0.35718054949325967,
+                    -0.9340332519703627
+                ]
+            ],
+            "translation_vector": [
+                0.5967119184978531,
+                -0.01278163933288531,
+                0.6535427260282483
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392932098636657,
+                    -0.9339769393000666,
+                    0.3571821157589963
+                ],
+                [
+                    -0.999944022256174,
+                    0.01041626540228769,
+                    -0.0018584319233612796
+                ],
+                [
+                    -0.0019847711550178638,
+                    -0.3571814360668103,
+                    -0.9340329129172664
+                ]
+            ],
+            "translation_vector": [
+                0.5967116479221124,
+                -0.012781639333879182,
+                0.6535431681030277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535448900024777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535448900024777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535457647023054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903709783562,
+                    -0.9339718439945092,
+                    0.357195439749692
+                ],
+                [
+                    -0.9999440222567237,
+                    0.010416265373473324,
+                    -0.0018584317889218753
+                ],
+                [
+                    -0.001984919525789941,
+                    -0.35719475925769967,
+                    -0.9340278176014408
+                ]
+            ],
+            "translation_vector": [
+                0.5967122628949486,
+                -0.012781639319558823,
+                0.653545086637249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392901825603037,
+                    -0.9339715049285631,
+                    0.3571963263712536
+                ],
+                [
+                    -0.9999440222567171,
+                    0.010416265374718996,
+                    -0.0018584317856649595
+                ],
+                [
+                    -0.0019849293946932176,
+                    -0.35719564582609215,
+                    -0.9340274785348553
+                ]
+            ],
+            "translation_vector": [
+                0.5967119923170396,
+                -0.012781639320552707,
+                0.6535454524184103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535457741544701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535457741544701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392880620319504,
+                    -0.9339676997980775,
+                    0.3572062762134788
+                ],
+                [
+                    -0.9999440222571624,
+                    0.01041626535067273,
+                    -0.0018584316807184094
+                ],
+                [
+                    -0.0019850401958928974,
+                    -0.3572055950710076,
+                    -0.9340236733966588
+                ]
+            ],
+            "translation_vector": [
+                0.5967127007417496,
+                -0.01278163930830139,
+                0.6535465725601751
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392866599946832,
+                    -0.9339651849631343,
+                    0.35721285195330654
+                ],
+                [
+                    -0.9999440222575039,
+                    0.010416265331393067,
+                    -0.0018584316052650998
+                ],
+                [
+                    -0.001985113427776651,
+                    -0.35721217041602216,
+                    -0.9340211585565685
+                ]
+            ],
+            "translation_vector": [
+                0.5967135026322213,
+                -0.01278163929811905,
+                0.6535469705951676
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928719015733,
+                    -0.9339661362732027,
+                    0.35721036450324783
+                ],
+                [
+                    -0.9999440222573923,
+                    0.010416265337404227,
+                    -0.0018584316315019465
+                ],
+                [
+                    -0.0019850857275349357,
+                    -0.3572096831152909,
+                    -0.9340221098685665
+                ]
+            ],
+            "translation_vector": [
+                0.596713325529134,
+                -0.012781639301181865,
+                0.6535466905577721
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928612982462,
+                    -0.9339642336464412,
+                    0.3572153394008318
+                ],
+                [
+                    -0.9999440222576149,
+                    0.010416265325381464,
+                    -0.0018584315790283945
+                ],
+                [
+                    -0.001985141128003749,
+                    -0.35721465771421995,
+                    -0.9340202072379458
+                ]
+            ],
+            "translation_vector": [
+                0.5967136797345629,
+                -0.012781639295056206,
+                0.6535472506330349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928612982462,
+                    -0.9339642336464412,
+                    0.3572153394008318
+                ],
+                [
+                    -0.9999440222576149,
+                    0.010416265325381464,
+                    -0.0018584315790283945
+                ],
+                [
+                    -0.001985141128003749,
+                    -0.35721465771421995,
+                    -0.9340202072379458
+                ]
+            ],
+            "translation_vector": [
+                0.5967136797345629,
+                -0.012781639295056206,
+                0.6535472506330349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928612982462,
+                    -0.9339642336464412,
+                    0.3572153394008318
+                ],
+                [
+                    -0.9999440222576149,
+                    0.010416265325381464,
+                    -0.0018584315790283945
+                ],
+                [
+                    -0.001985141128003749,
+                    -0.35721465771421995,
+                    -0.9340202072379458
+                ]
+            ],
+            "translation_vector": [
+                0.5967136797345629,
+                -0.012781639295056206,
+                0.6535472506330349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928612982462,
+                    -0.9339642336464412,
+                    0.3572153394008318
+                ],
+                [
+                    -0.9999440222576149,
+                    0.010416265325381464,
+                    -0.0018584315790283945
+                ],
+                [
+                    -0.001985141128003749,
+                    -0.35721465771421995,
+                    -0.9340202072379458
+                ]
+            ],
+            "translation_vector": [
+                0.5967136797345629,
+                -0.012781639295056206,
+                0.6535472506330349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535457647023054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535457647023054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535460447385895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535460447385895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535460447385895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535454500742381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535454500742381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464868147935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535456467068518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535456467068518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928612982462,
+                    -0.9339642336464412,
+                    0.3572153394008318
+                ],
+                [
+                    -0.9999440222576149,
+                    0.010416265325381464,
+                    -0.0018584315790283945
+                ],
+                [
+                    -0.001985141128003749,
+                    -0.35721465771421995,
+                    -0.9340202072379458
+                ]
+            ],
+            "translation_vector": [
+                0.5967136797345629,
+                -0.012781639295056206,
+                0.6535473269269803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392855996472355,
+                    -0.9339632823231245,
+                    0.3572178268458237
+                ],
+                [
+                    -0.9999440222577264,
+                    0.01041626531937072,
+                    -0.0018584315527915736
+                ],
+                [
+                    -0.0019851688282170885,
+                    -0.35721714500988433,
+                    -0.9340192559126987
+                ]
+            ],
+            "translation_vector": [
+                0.5967138568361586,
+                -0.012781639291993423,
+                0.6535475306713737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392855996472355,
+                    -0.9339632823231245,
+                    0.3572178268458237
+                ],
+                [
+                    -0.9999440222577264,
+                    0.01041626531937072,
+                    -0.0018584315527915736
+                ],
+                [
+                    -0.0019851688282170885,
+                    -0.35721714500988433,
+                    -0.9340192559126987
+                ]
+            ],
+            "translation_vector": [
+                0.5967138568361586,
+                -0.012781639291993423,
+                0.6535475306713737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392971085939185,
+                    -0.9339839367944158,
+                    0.3571638167032209
+                ],
+                [
+                    -0.9999440222554011,
+                    0.010416265443128661,
+                    -0.0018584321102735162
+                ],
+                [
+                    -0.001984567382843372,
+                    -0.3571631381094967,
+                    -0.9340399104257163
+                ]
+            ],
+            "translation_vector": [
+                0.596710678694214,
+                -0.01278163935432541,
+                0.6535407658183584
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392971085939185,
+                    -0.9339839367944158,
+                    0.3571638167032209
+                ],
+                [
+                    -0.9999440222554011,
+                    0.010416265443128661,
+                    -0.0018584321102735162
+                ],
+                [
+                    -0.001984567382843372,
+                    -0.3571631381094967,
+                    -0.9340399104257163
+                ]
+            ],
+            "translation_vector": [
+                0.596710678694214,
+                -0.01278163935432541,
+                0.6535407658183584
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039293739935181,
+                    -0.9339778905282847,
+                    0.3571796282776335
+                ],
+                [
+                    -0.9999440222560624,
+                    0.010416265408299943,
+                    -0.0018584319495978257
+                ],
+                [
+                    -0.001984743454602059,
+                    -0.3571789487347751,
+                    -0.934033864147409
+                ]
+            ],
+            "translation_vector": [
+                0.5967114708098099,
+                -0.01278163933694205,
+                0.6535429643654056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392942699992917,
+                    -0.933978841749879,
+                    0.3571771407937378
+                ],
+                [
+                    -0.9999440222559512,
+                    0.010416265414311928,
+                    -0.001858431975834448
+                ],
+                [
+                    -0.0019847157541718623,
+                    -0.357176461400207,
+                    -0.9340348153709273
+                ]
+            ],
+            "translation_vector": [
+                0.5967112936967617,
+                -0.01278163934000491,
+                0.6535426080403645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392942699992917,
+                    -0.933978841749879,
+                    0.3571771407937378
+                ],
+                [
+                    -0.9999440222559512,
+                    0.010416265414311928,
+                    -0.001858431975834448
+                ],
+                [
+                    -0.0019847157541718623,
+                    -0.357176461400207,
+                    -0.9340348153709273
+                ]
+            ],
+            "translation_vector": [
+                0.5967112936967617,
+                -0.01278163934000491,
+                0.6535426080403645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392924913781753,
+                    -0.933975649009564,
+                    0.3571854898633205
+                ],
+                [
+                    -0.9999440222562781,
+                    0.010416265397521034,
+                    -0.0018584318938680434
+                ],
+                [
+                    -0.001984808724344497,
+                    -0.3571848099686381,
+                    -0.9340316226241999
+                ]
+            ],
+            "translation_vector": [
+                0.5967115544572429,
+                -0.012781639331810205,
+                0.6535438902097579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290712673941,
+                    -0.9339724561946241,
+                    0.3571938389043633
+                ],
+                [
+                    -0.9999440222566057,
+                    0.010416265380730596,
+                    -0.0018584318119016642
+                ],
+                [
+                    -0.0019849016943577847,
+                    -0.3571931585085295,
+                    -0.9340284298028433
+                ]
+            ],
+            "translation_vector": [
+                0.5967118152089976,
+                -0.012781639323615545,
+                0.6535451723841482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290712673941,
+                    -0.9339724561946241,
+                    0.3571938389043633
+                ],
+                [
+                    -0.9999440222566057,
+                    0.010416265380730596,
+                    -0.0018584318119016642
+                ],
+                [
+                    -0.0019849016943577847,
+                    -0.3571931585085295,
+                    -0.9340284298028433
+                ]
+            ],
+            "translation_vector": [
+                0.5967118152089976,
+                -0.012781639323615545,
+                0.6535451723841482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392880620319504,
+                    -0.9339676997980775,
+                    0.3572062762134788
+                ],
+                [
+                    -0.9999440222571624,
+                    0.01041626535067273,
+                    -0.0018584316807184094
+                ],
+                [
+                    -0.0019850401958928974,
+                    -0.3572055950710076,
+                    -0.9340236733966588
+                ]
+            ],
+            "translation_vector": [
+                0.5967127007417496,
+                -0.01278163930830139,
+                0.6535465725601751
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392880620319504,
+                    -0.9339676997980775,
+                    0.3572062762134788
+                ],
+                [
+                    -0.9999440222571624,
+                    0.01041626535067273,
+                    -0.0018584316807184094
+                ],
+                [
+                    -0.0019850401958928974,
+                    -0.3572055950710076,
+                    -0.9340236733966588
+                ]
+            ],
+            "translation_vector": [
+                0.5967127007417496,
+                -0.01278163930830139,
+                0.6535465725601751
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535463688179717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462925240264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462925240264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891223108814,
+                    -0.9339696023765688,
+                    0.357201301297433
+                ],
+                [
+                    -0.9999440222569398,
+                    0.01041626536269568,
+                    -0.001858431733191837
+                ],
+                [
+                    -0.001984984795321197,
+                    -0.3572006204536168,
+                    -0.9340255759790063
+                ]
+            ],
+            "translation_vector": [
+                0.5967123465308862,
+                -0.012781639314427051,
+                0.6535460124883494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875318813893,
+                    -0.933966748498896,
+                    0.3572087636677017
+                ],
+                [
+                    -0.999944022257274,
+                    0.010416265344661021,
+                    -0.001858431654481713
+                ],
+                [
+                    -0.0019850678961573763,
+                    -0.357208082375903,
+                    -0.9340227220955485
+                ]
+            ],
+            "translation_vector": [
+                0.5967128778460628,
+                -0.012781639305238549,
+                0.6535468525967955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875318813893,
+                    -0.933966748498896,
+                    0.3572087636677017
+                ],
+                [
+                    -0.999944022257274,
+                    0.010416265344661021,
+                    -0.001858431654481713
+                ],
+                [
+                    -0.0019850678961573763,
+                    -0.357208082375903,
+                    -0.9340227220955485
+                ]
+            ],
+            "translation_vector": [
+                0.5967128778460628,
+                -0.012781639305238549,
+                0.6535468525967955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462925240264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535463688179717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535463688179717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535453320786022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462162300811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462162300811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462925240264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462925240264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462162300811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885921750961,
+                    -0.9339686510906352,
+                    0.35720378875672265
+                ],
+                [
+                    -0.9999440222570513,
+                    0.01041626535668416,
+                    -0.0018584317069550709
+                ],
+                [
+                    -0.0019850124956141066,
+                    -0.35720310776357894,
+                    -0.9340246246911449
+                ]
+            ],
+            "translation_vector": [
+                0.5967125236366908,
+                -0.012781639311364213,
+                0.6535462162300811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392866248530083,
+                    -0.9339651190303409,
+                    0.3572130243507117
+                ],
+                [
+                    -0.9999440222573716,
+                    0.010416265341140906,
+                    -0.001858431621731611
+                ],
+                [
+                    -0.0019851153341481536,
+                    -0.35721234280324765,
+                    -0.9340210926237833
+                ]
+            ],
+            "translation_vector": [
+                0.596712513789363,
+                -0.012781639304163532,
+                0.6535479404914022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392968850775208,
+                    -0.9339835318345792,
+                    0.3571648757370647
+                ],
+                [
+                    -0.999944022255262,
+                    0.010416265454123028,
+                    -0.0018584321234826054
+                ],
+                [
+                    -0.00198457915820108,
+                    -0.3571641970799919,
+                    -0.9340395054652508
+                ]
+            ],
+            "translation_vector": [
+                0.5967094192794509,
+                -0.012781639361363785,
+                0.6535422540824583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392968850775208,
+                    -0.9339835318345792,
+                    0.3571648757370647
+                ],
+                [
+                    -0.999944022255262,
+                    0.010416265454123028,
+                    -0.0018584321234826054
+                ],
+                [
+                    -0.00198457915820108,
+                    -0.3571641970799919,
+                    -0.9340395054652508
+                ]
+            ],
+            "translation_vector": [
+                0.5967094192794509,
+                -0.012781639361363785,
+                0.6535422540824583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905593954832,
+                    -0.9339721830596138,
+                    0.3571945531278086
+                ],
+                [
+                    -0.999944022256731,
+                    0.010416265372227916,
+                    -0.0018584317921785506
+                ],
+                [
+                    -0.0019849096568852302,
+                    -0.3571938726889853,
+                    -0.9340281566671852
+                ]
+            ],
+            "translation_vector": [
+                0.5967125334724381,
+                -0.01278163931856494,
+                0.6535446445618854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392965434371878,
+                    -0.9339829196841016,
+                    0.357166476601376
+                ],
+                [
+                    -0.9999440222553804,
+                    0.010416265446864695,
+                    -0.0018584321005031153
+                ],
+                [
+                    -0.001984596989738822,
+                    -0.35716579784814473,
+                    -0.9340388933134891
+                ]
+            ],
+            "translation_vector": [
+                0.5967098669713151,
+                -0.012781639357307015,
+                0.6535420920383961
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392965434371878,
+                    -0.9339829196841016,
+                    0.357166476601376
+                ],
+                [
+                    -0.9999440222553804,
+                    0.010416265446864695,
+                    -0.0018584321005031153
+                ],
+                [
+                    -0.001984596989738822,
+                    -0.35716579784814473,
+                    -0.9340388933134891
+                ]
+            ],
+            "translation_vector": [
+                0.5967098669713151,
+                -0.012781639357307015,
+                0.6535420920383961
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392955184979336,
+                    -0.9339810832162074,
+                    0.3571712791880152
+                ],
+                [
+                    -0.9999440222557353,
+                    0.010416265425091002,
+                    -0.001858432031564218
+                ],
+                [
+                    -0.001984650484317612,
+                    -0.35717060014630836,
+                    -0.934037056841741
+                ]
+            ],
+            "translation_vector": [
+                0.5967112100431053,
+                -0.012781639345136766,
+                0.653541605905481
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392824184278393,
+                    -0.9339575742441181,
+                    0.3572327514625695
+                ],
+                [
+                    -0.9999440222583947,
+                    0.01041626528330526,
+                    -0.001858431395370773
+                ],
+                [
+                    -0.0019853350291996674,
+                    -0.35723206873066576,
+                    -0.9340135478221028
+                ]
+            ],
+            "translation_vector": [
+                0.5967149194300716,
+                -0.012781639273616648,
+                0.6535492109113115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392824184278393,
+                    -0.9339575742441181,
+                    0.3572327514625695
+                ],
+                [
+                    -0.9999440222583947,
+                    0.01041626528330526,
+                    -0.001858431395370773
+                ],
+                [
+                    -0.0019853350291996674,
+                    -0.35723206873066576,
+                    -0.9340135478221028
+                ]
+            ],
+            "translation_vector": [
+                0.5967149194300716,
+                -0.012781639273616648,
+                0.6535492109113115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392951417119586,
+                    -0.9339804051293397,
+                    0.3571730524483566
+                ],
+                [
+                    -0.9999440222557215,
+                    0.010416265427582045,
+                    -0.0018584320250505182
+                ],
+                [
+                    -0.0019846702222197257,
+                    -0.35717237330031176,
+                    -0.9340363787535967
+                ]
+            ],
+            "translation_vector": [
+                0.5967106688933308,
+                -0.012781639347124518,
+                0.6535424900534383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103930116016163,
+                    -0.9339912070277983,
+                    0.3571448032725739
+                ],
+                [
+                    -0.9999440222545031,
+                    0.010416265492477077,
+                    -0.0018584323169074139
+                ],
+                [
+                    -0.0019843556472978396,
+                    -0.35714412582030114,
+                    -0.9340471806738238
+                ]
+            ],
+            "translation_vector": [
+                0.5967089911592702,
+                -0.012781639379822452,
+                0.6535389676790433
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393001002178031,
+                    -0.9339893047502158,
+                    0.3571497783036939
+                ],
+                [
+                    -0.9999440222547259,
+                    0.010416265480450807,
+                    -0.0018584322644350025
+                ],
+                [
+                    -0.001984411048510445,
+                    -0.3571491005527659,
+                    -0.9340452783924029
+                ]
+            ],
+            "translation_vector": [
+                0.5967093454040108,
+                -0.012781639373696647,
+                0.6535396040233878
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393001002178031,
+                    -0.9339893047502158,
+                    0.3571497783036939
+                ],
+                [
+                    -0.9999440222547259,
+                    0.010416265480450807,
+                    -0.0018584322644350025
+                ],
+                [
+                    -0.001984411048510445,
+                    -0.3571491005527659,
+                    -0.9340452783924029
+                ]
+            ],
+            "translation_vector": [
+                0.5967093454040108,
+                -0.012781639373696647,
+                0.6535396040233878
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392949884512066,
+                    -0.9339801320102228,
+                    0.35717376667788037
+                ],
+                [
+                    -0.9999440222558464,
+                    0.010416265419079009,
+                    -0.0018584320053274851
+                ],
+                [
+                    -0.0019846781847812946,
+                    -0.3571730874868459,
+                    -0.934036105633833
+                ]
+            ],
+            "translation_vector": [
+                0.5967113871579109,
+                -0.012781639342073893,
+                0.6535418859354654
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039285257905856,
+                    -0.9339626700818984,
+                    0.35721942767542886
+                ],
+                [
+                    -0.9999440222578444,
+                    0.010416265312113962,
+                    -0.001858431529811581
+                ],
+                [
+                    -0.001985186659561592,
+                    -0.357218745743331,
+                    -0.9340186436701831
+                ]
+            ],
+            "translation_vector": [
+                0.5967143045171563,
+                -0.012781639287936719,
+                0.6535473686331397
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039285257905856,
+                    -0.9339626700818984,
+                    0.35721942767542886
+                ],
+                [
+                    -0.9999440222578444,
+                    0.010416265312113962,
+                    -0.001858431529811581
+                ],
+                [
+                    -0.001985186659561592,
+                    -0.357218745743331,
+                    -0.9340186436701831
+                ]
+            ],
+            "translation_vector": [
+                0.5967143045171563,
+                -0.012781639287936719,
+                0.6535473686331397
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392854463483401,
+                    -0.9339630091697722,
+                    0.3572185410622541
+                ],
+                [
+                    -0.9999440222578515,
+                    0.010416265310868344,
+                    -0.0018584315330684381
+                ],
+                [
+                    -0.0019851767907052764,
+                    -0.35721785918332527,
+                    -0.9340189827586975
+                ]
+            ],
+            "translation_vector": [
+                0.5967145750968844,
+                -0.012781639286942838,
+                0.6535469265558385
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392854463483401,
+                    -0.9339630091697722,
+                    0.3572185410622541
+                ],
+                [
+                    -0.9999440222578515,
+                    0.010416265310868344,
+                    -0.0018584315330684381
+                ],
+                [
+                    -0.0019851767907052764,
+                    -0.35721785918332527,
+                    -0.9340189827586975
+                ]
+            ],
+            "translation_vector": [
+                0.5967145750968844,
+                -0.012781639286942838,
+                0.6535469265558385
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392857880880214,
+                    -0.9339636214094784,
+                    0.3572169402320673
+                ],
+                [
+                    -0.999944022257733,
+                    0.01041626531812507,
+                    -0.001858431556048432
+                ],
+                [
+                    -0.001985158959357476,
+                    -0.357216258449297,
+                    -0.9340195949996933
+                ]
+            ],
+            "translation_vector": [
+                0.5967141274160406,
+                -0.012781639290999534,
+                0.6535470885944973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039296048537317,
+                    -0.9339820344155679,
+                    0.35716879169561694
+                ],
+                [
+                    -0.999944022255624,
+                    0.010416265431103713,
+                    -0.00185843205780051
+                ],
+                [
+                    -0.001984622783840563,
+                    -0.35716811280323757,
+                    -0.9340380080430242
+                ]
+            ],
+            "translation_vector": [
+                0.596711032927554,
+                -0.012781639348199645,
+                0.6535413258759685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039292868190467,
+                    -0.933976327120043,
+                    0.35718371661200854
+                ],
+                [
+                    -0.9999440222562921,
+                    0.010416265395030332,
+                    -0.0018584319003814413
+                ],
+                [
+                    -0.0019847889864931167,
+                    -0.35718303682366426,
+                    -0.9340323007359566
+                ]
+            ],
+            "translation_vector": [
+                0.5967120956096756,
+                -0.012781639329822451,
+                0.6535430823540644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392923381068273,
+                    -0.9339753758809377,
+                    0.3571862040892075
+                ],
+                [
+                    -0.9999440222564037,
+                    0.010416265389018135,
+                    -0.001858431874144891
+                ],
+                [
+                    -0.001984816686885608,
+                    -0.35718552415153576,
+                    -0.9340313494949263
+                ]
+            ],
+            "translation_vector": [
+                0.5967122727207524,
+                -0.012781639326759586,
+                0.6535432860924619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392923381068273,
+                    -0.9339753758809377,
+                    0.3571862040892075
+                ],
+                [
+                    -0.9999440222564037,
+                    0.010416265389018135,
+                    -0.001858431874144891
+                ],
+                [
+                    -0.001984816686885608,
+                    -0.35718552415153576,
+                    -0.9340313494949263
+                ]
+            ],
+            "translation_vector": [
+                0.5967122727207524,
+                -0.012781639326759586,
+                0.6535432860924619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905593954832,
+                    -0.9339721830596138,
+                    0.3571945531278086
+                ],
+                [
+                    -0.999944022256731,
+                    0.010416265372227916,
+                    -0.0018584317921785506
+                ],
+                [
+                    -0.0019849096568852302,
+                    -0.3571938726889853,
+                    -0.9340281566671852
+                ]
+            ],
+            "translation_vector": [
+                0.5967125334724381,
+                -0.01278163931856494,
+                0.65354456826794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535452046311521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460864418305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460864418305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392857880880214,
+                    -0.9339636214094784,
+                    0.3572169402320673
+                ],
+                [
+                    -0.999944022257733,
+                    0.01041626531812507,
+                    -0.001858431556048432
+                ],
+                [
+                    -0.001985158959357476,
+                    -0.357216258449297,
+                    -0.9340195949996933
+                ]
+            ],
+            "translation_vector": [
+                0.5967141274160406,
+                -0.012781639290999534,
+                0.6535470885944973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458826987164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458826987164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535463247753454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535457301108258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392806744006128,
+                    -0.9339544469447207,
+                    0.35724092794662166
+                ],
+                [
+                    -0.999944022258854,
+                    0.010416265256771631,
+                    -0.0018584312969368267
+                ],
+                [
+                    -0.001985426091951889,
+                    -0.3572402447237463,
+                    -0.9340104205162553
+                ]
+            ],
+            "translation_vector": [
+                0.5967161689757583,
+                -0.012781639259377748,
+                0.6535493706293857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392806744006128,
+                    -0.9339544469447207,
+                    0.35724092794662166
+                ],
+                [
+                    -0.999944022258854,
+                    0.010416265256771631,
+                    -0.0018584312969368267
+                ],
+                [
+                    -0.001985426091951889,
+                    -0.3572402447237463,
+                    -0.9340104205162553
+                ]
+            ],
+            "translation_vector": [
+                0.5967161689757583,
+                -0.012781639259377748,
+                0.6535493706293857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392918080158376,
+                    -0.9339744246352079,
+                    0.35718869156387284
+                ],
+                [
+                    -0.9999440222565149,
+                    0.010416265383006431,
+                    -0.0018584318479083046
+                ],
+                [
+                    -0.001984844387264285,
+                    -0.35718801147687357,
+                    -0.9340303982472709
+                ]
+            ],
+            "translation_vector": [
+                0.5967124498310834,
+                -0.01278163932369675,
+                0.6535435661252763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392935866688352,
+                    -0.9339776174041403,
+                    0.35718034250523456
+                ],
+                [
+                    -0.9999440222561877,
+                    0.010416265399797026,
+                    -0.0018584319298748412
+                ],
+                [
+                    -0.0019847514171527207,
+                    -0.35717966291938674,
+                    -0.9340335910226173
+                ]
+            ],
+            "translation_vector": [
+                0.5967121890731742,
+                -0.012781639331891448,
+                0.6535422839532117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392935866688352,
+                    -0.9339776174041403,
+                    0.35718034250523456
+                ],
+                [
+                    -0.9999440222561877,
+                    0.010416265399797026,
+                    -0.0018584319298748412
+                ],
+                [
+                    -0.0019847514171527207,
+                    -0.35717966291938674,
+                    -0.9340335910226173
+                ]
+            ],
+            "translation_vector": [
+                0.5967121890731742,
+                -0.012781639331891448,
+                0.6535422839532117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535460447385895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392895342955068,
+                    -0.9339703464473658,
+                    0.3571993556592425
+                ],
+                [
+                    -0.9999440222570856,
+                    0.010416265350456854,
+                    -0.0018584317232387421
+                ],
+                [
+                    -0.0019849631511568624,
+                    -0.35719867493194385,
+                    -0.9340263200510744
+                ]
+            ],
+            "translation_vector": [
+                0.5967138765260274,
+                -0.012781639306394801,
+                0.6535440821434033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392895342955068,
+                    -0.9339703464473658,
+                    0.3571993556592425
+                ],
+                [
+                    -0.9999440222570856,
+                    0.010416265350456854,
+                    -0.0018584317232387421
+                ],
+                [
+                    -0.0019849631511568624,
+                    -0.35719867493194385,
+                    -0.9340263200510744
+                ]
+            ],
+            "translation_vector": [
+                0.5967138765260274,
+                -0.012781639306394801,
+                0.6535440821434033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392904061164393,
+                    -0.9339719099240572,
+                    0.35719526735104523
+                ],
+                [
+                    -0.999944022256856,
+                    0.010416265363725453,
+                    -0.0018584317724553657
+                ],
+                [
+                    -0.001984917619411711,
+                    -0.35719458686923256,
+                    -0.9340278835309804
+                ]
+            ],
+            "translation_vector": [
+                0.5967132517345177,
+                -0.012781639313514347,
+                0.6535439641505041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392904061164393,
+                    -0.9339719099240572,
+                    0.35719526735104523
+                ],
+                [
+                    -0.999944022256856,
+                    0.010416265363725453,
+                    -0.0018584317724553657
+                ],
+                [
+                    -0.001984917619411711,
+                    -0.35719458686923256,
+                    -0.9340278835309804
+                ]
+            ],
+            "translation_vector": [
+                0.5967132517345177,
+                -0.012781639313514347,
+                0.6535439641505041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434040828532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392939283355995,
+                    -0.9339782295783814,
+                    0.3571787416500109
+                ],
+                [
+                    -0.9999440222560697,
+                    0.010416265407054523,
+                    -0.0018584319528546695
+                ],
+                [
+                    -0.001984733585665286,
+                    -0.35717806216032166,
+                    -0.9340342031981442
+                ]
+            ],
+            "translation_vector": [
+                0.5967117413852848,
+                -0.012781639335948185,
+                0.653542445996849
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535438461585623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535438461585623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460864418305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392857880880214,
+                    -0.9339636214094784,
+                    0.3572169402320673
+                ],
+                [
+                    -0.999944022257733,
+                    0.01041626531812507,
+                    -0.001858431556048432
+                ],
+                [
+                    -0.001985158959357476,
+                    -0.357216258449297,
+                    -0.9340195949996933
+                ]
+            ],
+            "translation_vector": [
+                0.5967141274160406,
+                -0.012781639290999534,
+                0.6535470885944973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392857880880214,
+                    -0.9339636214094784,
+                    0.3572169402320673
+                ],
+                [
+                    -0.999944022257733,
+                    0.01041626531812507,
+                    -0.001858431556048432
+                ],
+                [
+                    -0.001985158959357476,
+                    -0.357216258449297,
+                    -0.9340195949996933
+                ]
+            ],
+            "translation_vector": [
+                0.5967141274160406,
+                -0.012781639290999534,
+                0.6535470885944973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392918080158376,
+                    -0.9339744246352079,
+                    0.35718869156387284
+                ],
+                [
+                    -0.9999440222565149,
+                    0.010416265383006431,
+                    -0.0018584318479083046
+                ],
+                [
+                    -0.001984844387264285,
+                    -0.35718801147687357,
+                    -0.9340303982472709
+                ]
+            ],
+            "translation_vector": [
+                0.5967124498310834,
+                -0.01278163932369675,
+                0.6535434898313309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535439224525075
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535439224525075
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535447720083922
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392845392702634,
+                    -0.9339613796566185,
+                    0.3572228017282065
+                ],
+                [
+                    -0.9999440222579491,
+                    0.010416265307348353,
+                    -0.0018584315003181049
+                ],
+                [
+                    -0.001985224228600964,
+                    -0.3572221195936123,
+                    -0.9340173532423311
+                ]
+            ],
+            "translation_vector": [
+                0.5967142110371128,
+                -0.012781639285867803,
+                0.6535480907494664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392845392702634,
+                    -0.9339613796566185,
+                    0.3572228017282065
+                ],
+                [
+                    -0.9999440222579491,
+                    0.010416265307348353,
+                    -0.0018584315003181049
+                ],
+                [
+                    -0.001985224228600964,
+                    -0.3572221195936123,
+                    -0.9340173532423311
+                ]
+            ],
+            "translation_vector": [
+                0.5967142110371128,
+                -0.012781639285867803,
+                0.6535480907494664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868484302044,
+                    -0.9339655240447658,
+                    0.357211965337744
+                ],
+                [
+                    -0.9999440222575103,
+                    0.010416265330147405,
+                    -0.0018584316085218469
+                ],
+                [
+                    -0.0019851035589069158,
+                    -0.35721128385362855,
+                    -0.9340214976388406
+                ]
+            ],
+            "translation_vector": [
+                0.5967137732115716,
+                -0.012781639297125145,
+                0.6535465285186274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868484302044,
+                    -0.9339655240447658,
+                    0.357211965337744
+                ],
+                [
+                    -0.9999440222575103,
+                    0.010416265330147405,
+                    -0.0018584316085218469
+                ],
+                [
+                    -0.0019851035589069158,
+                    -0.35721128385362855,
+                    -0.9340214976388406
+                ]
+            ],
+            "translation_vector": [
+                0.5967137732115716,
+                -0.012781639297125145,
+                0.6535465285186274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392899941413023,
+                    -0.9339711658617752,
+                    0.3571972129924926
+                ],
+                [
+                    -0.9999440222567099,
+                    0.010416265375964505,
+                    -0.0018584317824081654
+                ],
+                [
+                    -0.0019849392635944447,
+                    -0.3571965323941622,
+                    -0.934027139467428
+                ]
+            ],
+            "translation_vector": [
+                0.5967117217387108,
+                -0.012781639321546587,
+                0.6535458944932598
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434803767984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434803767984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891223108814,
+                    -0.9339696023765688,
+                    0.357201301297433
+                ],
+                [
+                    -0.9999440222569398,
+                    0.01041626536269568,
+                    -0.001858431733191837
+                ],
+                [
+                    -0.001984984795321197,
+                    -0.3572006204536168,
+                    -0.9340255759790063
+                ]
+            ],
+            "translation_vector": [
+                0.5967123465308862,
+                -0.012781639314427051,
+                0.6535460124883494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535436518736324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535436518736324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903709783562,
+                    -0.9339718439945092,
+                    0.357195439749692
+                ],
+                [
+                    -0.9999440222567237,
+                    0.010416265373473324,
+                    -0.0018584317889218753
+                ],
+                [
+                    -0.001984919525789941,
+                    -0.35719475925769967,
+                    -0.9340278176014408
+                ]
+            ],
+            "translation_vector": [
+                0.5967122628949486,
+                -0.012781639319558823,
+                0.6535450103433036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903709783562,
+                    -0.9339718439945092,
+                    0.357195439749692
+                ],
+                [
+                    -0.9999440222567237,
+                    0.010416265373473324,
+                    -0.0018584317889218753
+                ],
+                [
+                    -0.001984919525789941,
+                    -0.35719475925769967,
+                    -0.9340278176014408
+                ]
+            ],
+            "translation_vector": [
+                0.5967122628949486,
+                -0.012781639319558823,
+                0.6535450103433036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535456467068518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535456467068518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535456467068518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468085563265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468085563265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468085563265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468085563265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535456121144148
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392790836185809,
+                    -0.9339515927504715,
+                    0.35724839019580434
+                ],
+                [
+                    -0.9999440222591883,
+                    0.010416265238740723,
+                    -0.001858431218225824
+                ],
+                [
+                    -0.001985509192113512,
+                    -0.3572477065249469,
+                    -0.934007566316202
+                ]
+            ],
+            "translation_vector": [
+                0.5967167002552919,
+                -0.012781639250189436,
+                0.6535502107603726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288403748201,
+                    -0.9339683120167642,
+                    0.3572046753752528
+                ],
+                [
+                    -0.9999440222570443,
+                    0.010416265357929494,
+                    -0.0018584317036985125
+                ],
+                [
+                    -0.001985022364500044,
+                    -0.3572039943289402,
+                    -0.9340242856166341
+                ]
+            ],
+            "translation_vector": [
+                0.5967122530575646,
+                -0.012781639312358107,
+                0.6535467345993804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288403748201,
+                    -0.9339683120167642,
+                    0.3572046753752528
+                ],
+                [
+                    -0.9999440222570443,
+                    0.010416265357929494,
+                    -0.0018584317036985125
+                ],
+                [
+                    -0.001985022364500044,
+                    -0.3572039943289402,
+                    -0.9340242856166341
+                ]
+            ],
+            "translation_vector": [
+                0.5967122530575646,
+                -0.012781639312358107,
+                0.6535467345993804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914311930228,
+                    -0.933973746515285,
+                    0.357190464811573
+                ],
+                [
+                    -0.9999440222565011,
+                    0.010416265385497012,
+                    -0.0018584318413951387
+                ],
+                [
+                    -0.0019848641250953428,
+                    -0.3571897846182356,
+                    -0.9340297201260697
+                ]
+            ],
+            "translation_vector": [
+                0.5967119086775873,
+                -0.01278163932568452,
+                0.6535445265695327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914311930228,
+                    -0.933973746515285,
+                    0.357190464811573
+                ],
+                [
+                    -0.9999440222565011,
+                    0.010416265385497012,
+                    -0.0018584318413951387
+                ],
+                [
+                    -0.0019848641250953428,
+                    -0.3571897846182356,
+                    -0.9340297201260697
+                ]
+            ],
+            "translation_vector": [
+                0.5967119086775873,
+                -0.01278163932568452,
+                0.6535445265695327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392855996472355,
+                    -0.9339632823231245,
+                    0.3572178268458237
+                ],
+                [
+                    -0.9999440222577264,
+                    0.01041626531937072,
+                    -0.0018584315527915736
+                ],
+                [
+                    -0.0019851688282170885,
+                    -0.35721714500988433,
+                    -0.9340192559126987
+                ]
+            ],
+            "translation_vector": [
+                0.5967138568361586,
+                -0.012781639291993423,
+                0.6535475306713737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.6535442024862652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.6535442024862652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919964258313,
+                    -0.9339747636939073,
+                    0.35718780493954017
+                ],
+                [
+                    -0.9999440222565218,
+                    0.010416265381760848,
+                    -0.0018584318511652704
+                ],
+                [
+                    -0.0019848345183455926,
+                    -0.35718712490570975,
+                    -0.9340307373066092
+                ]
+            ],
+            "translation_vector": [
+                0.596712720407202,
+                -0.012781639322702884,
+                0.6535431240497354
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392918080158376,
+                    -0.9339744246352079,
+                    0.35718869156387284
+                ],
+                [
+                    -0.9999440222565149,
+                    0.010416265383006431,
+                    -0.0018584318479083046
+                ],
+                [
+                    -0.001984844387264285,
+                    -0.35718801147687357,
+                    -0.9340303982472709
+                ]
+            ],
+            "translation_vector": [
+                0.5967124498310834,
+                -0.01278163932369675,
+                0.6535435661252763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.6535440498983747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444825204946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535447279615725
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535447279615725
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535448900024777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460101478852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460101478852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928719015733,
+                    -0.9339661362732027,
+                    0.35721036450324783
+                ],
+                [
+                    -0.9999440222573923,
+                    0.010416265337404227,
+                    -0.0018584316315019465
+                ],
+                [
+                    -0.0019850857275349357,
+                    -0.3572096831152909,
+                    -0.9340221098685665
+                ]
+            ],
+            "translation_vector": [
+                0.596713325529134,
+                -0.012781639301181865,
+                0.6535466905577721
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392942699992917,
+                    -0.933978841749879,
+                    0.3571771407937378
+                ],
+                [
+                    -0.9999440222559512,
+                    0.010416265414311928,
+                    -0.001858431975834448
+                ],
+                [
+                    -0.0019847157541718623,
+                    -0.357176461400207,
+                    -0.9340348153709273
+                ]
+            ],
+            "translation_vector": [
+                0.5967112936967617,
+                -0.01278163934000491,
+                0.6535425317464192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392942699992917,
+                    -0.933978841749879,
+                    0.3571771407937378
+                ],
+                [
+                    -0.9999440222559512,
+                    0.010416265414311928,
+                    -0.001858431975834448
+                ],
+                [
+                    -0.0019847157541718623,
+                    -0.357176461400207,
+                    -0.9340348153709273
+                ]
+            ],
+            "translation_vector": [
+                0.5967112936967617,
+                -0.01278163934000491,
+                0.6535425317464192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392971085939185,
+                    -0.9339839367944158,
+                    0.3571638167032209
+                ],
+                [
+                    -0.9999440222554011,
+                    0.010416265443128661,
+                    -0.0018584321102735162
+                ],
+                [
+                    -0.001984567382843372,
+                    -0.3571631381094967,
+                    -0.9340399104257163
+                ]
+            ],
+            "translation_vector": [
+                0.596710678694214,
+                -0.01278163935432541,
+                0.653540689524413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039293739935181,
+                    -0.9339778905282847,
+                    0.3571796282776335
+                ],
+                [
+                    -0.9999440222560624,
+                    0.010416265408299943,
+                    -0.0018584319495978257
+                ],
+                [
+                    -0.001984743454602059,
+                    -0.3571789487347751,
+                    -0.934033864147409
+                ]
+            ],
+            "translation_vector": [
+                0.5967114708098099,
+                -0.01278163933694205,
+                0.6535428880714602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039293739935181,
+                    -0.9339778905282847,
+                    0.3571796282776335
+                ],
+                [
+                    -0.9999440222560624,
+                    0.010416265408299943,
+                    -0.0018584319495978257
+                ],
+                [
+                    -0.001984743454602059,
+                    -0.3571789487347751,
+                    -0.934033864147409
+                ]
+            ],
+            "translation_vector": [
+                0.5967114708098099,
+                -0.01278163933694205,
+                0.6535428880714602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.653544924596283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.653544924596283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535452046311521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535453320786022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535453320786022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535453320786022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535453320786022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535453320786022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535453320786022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535457301108258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535457301108258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535463247753454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535461721874547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039276620653902,
+                    -0.9339471747547456,
+                    0.35725994062895644
+                ],
+                [
+                    -0.999944022259752,
+                    0.01041626520744483,
+                    -0.0018584310902973835
+                ],
+                [
+                    -0.001985637823327625,
+                    -0.35725925626463134,
+                    -0.9340031483114377
+                ]
+            ],
+            "translation_vector": [
+                0.5967178562900928,
+                -0.012781639233881766,
+                0.653551321495591
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392808277185549,
+                    -0.9339547201151905,
+                    0.35724021373673825
+                ],
+                [
+                    -0.9999440222587288,
+                    0.010416265265273375,
+                    -0.0018584313166601178
+                ],
+                [
+                    -0.0019854181295002426,
+                    -0.3572395305568523,
+                    -0.9340106936873751
+                ]
+            ],
+            "translation_vector": [
+                0.5967154507169597,
+                -0.012781639264428298,
+                0.6535500510376475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392808277185549,
+                    -0.9339547201151905,
+                    0.35724021373673825
+                ],
+                [
+                    -0.9999440222587288,
+                    0.010416265265273375,
+                    -0.0018584313166601178
+                ],
+                [
+                    -0.0019854181295002426,
+                    -0.3572395305568523,
+                    -0.9340106936873751
+                ]
+            ],
+            "translation_vector": [
+                0.5967154507169597,
+                -0.012781639264428298,
+                0.6535500510376475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392829837947435,
+                    -0.9339585915431546,
+                    0.35723009163659064
+                ],
+                [
+                    -0.9999440222584153,
+                    0.010416265279568362,
+                    -0.0018584314051411793
+                ],
+                [
+                    -0.001985305422706017,
+                    -0.35722940906419387,
+                    -0.9340145651230638
+                ]
+            ],
+            "translation_vector": [
+                0.5967157311732433,
+                -0.012781639270634982,
+                0.6535479609708309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039262264537898,
+                    -0.9339214175394529,
+                    0.3573272719170064
+                ],
+                [
+                    -0.9999440222626265,
+                    0.010416265054948977,
+                    -0.0018584303983591299
+                ],
+                [
+                    -0.0019863876236154887,
+                    -0.3573265835106655,
+                    -0.9339773910437046
+                ]
+            ],
+            "translation_vector": [
+                0.5967216485680239,
+                -0.012781639157233423,
+                0.6535598528251884
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039262264537898,
+                    -0.9339214175394529,
+                    0.3573272719170064
+                ],
+                [
+                    -0.9999440222626265,
+                    0.010416265054948977,
+                    -0.0018584303983591299
+                ],
+                [
+                    -0.0019863876236154887,
+                    -0.3573265835106655,
+                    -0.9339773910437046
+                ]
+            ],
+            "translation_vector": [
+                0.5967216485680239,
+                -0.012781639157233423,
+                0.6535598528251884
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392824184278393,
+                    -0.9339575742441181,
+                    0.3572327514625695
+                ],
+                [
+                    -0.9999440222583947,
+                    0.01041626528330526,
+                    -0.001858431395370773
+                ],
+                [
+                    -0.0019853350291996674,
+                    -0.35723206873066576,
+                    -0.9340135478221028
+                ]
+            ],
+            "translation_vector": [
+                0.5967149194300716,
+                -0.012781639273616648,
+                0.6535493634992022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039277834581062,
+                    -0.9339493508002567,
+                    0.3572542516164558
+                ],
+                [
+                    -0.9999440222594036,
+                    0.010416265227966312,
+                    -0.001858431162495164
+                ],
+                [
+                    -0.001985574460936364,
+                    -0.35725356759377463,
+                    -0.9340053243614732
+                ]
+            ],
+            "translation_vector": [
+                0.596716783854469,
+                -0.012781639245057833,
+                0.6535513655176008
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392845392702634,
+                    -0.9339613796566185,
+                    0.3572228017282065
+                ],
+                [
+                    -0.9999440222579491,
+                    0.010416265307348353,
+                    -0.0018584315003181049
+                ],
+                [
+                    -0.001985224228600964,
+                    -0.3572221195936123,
+                    -0.9340173532423311
+                ]
+            ],
+            "translation_vector": [
+                0.5967142110371128,
+                -0.012781639285867803,
+                0.6535480907494664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392845392702634,
+                    -0.9339613796566185,
+                    0.3572228017282065
+                ],
+                [
+                    -0.9999440222579491,
+                    0.010416265307348353,
+                    -0.0018584315003181049
+                ],
+                [
+                    -0.001985224228600964,
+                    -0.3572221195936123,
+                    -0.9340173532423311
+                ]
+            ],
+            "translation_vector": [
+                0.5967142110371128,
+                -0.012781639285867803,
+                0.6535480907494664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.6535447303092096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392956717565674,
+                    -0.9339813563334222,
+                    0.3571705649577642
+                ],
+                [
+                    -0.9999440222556099,
+                    0.010416265433594196,
+                    -0.001858432051287183
+                ],
+                [
+                    -0.00198464252175224,
+                    -0.35716988595904675,
+                    -0.9340373299596022
+                ]
+            ],
+            "translation_vector": [
+                0.596710491778311,
+                -0.012781639350187389,
+                0.6535422100235895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392956717565674,
+                    -0.9339813563334222,
+                    0.3571705649577642
+                ],
+                [
+                    -0.9999440222556099,
+                    0.010416265433594196,
+                    -0.001858432051287183
+                ],
+                [
+                    -0.00198464252175224,
+                    -0.35716988595904675,
+                    -0.9340373299596022
+                ]
+            ],
+            "translation_vector": [
+                0.596710491778311,
+                -0.012781639350187389,
+                0.6535422100235895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392924913781753,
+                    -0.933975649009564,
+                    0.3571854898633205
+                ],
+                [
+                    -0.9999440222562781,
+                    0.010416265397521034,
+                    -0.0018584318938680434
+                ],
+                [
+                    -0.001984808724344497,
+                    -0.3571848099686381,
+                    -0.9340316226241999
+                ]
+            ],
+            "translation_vector": [
+                0.5967115544572429,
+                -0.012781639331810205,
+                0.6535439665037033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.653544806603155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.653544806603155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919612892987,
+                    -0.9339746977657367,
+                    0.35718797733871355
+                ],
+                [
+                    -0.9999440222563898,
+                    0.010416265391509071,
+                    -0.0018584318676316438
+                ],
+                [
+                    -0.001984836424726924,
+                    -0.3571872972947036,
+                    -0.9340306713784471
+                ]
+            ],
+            "translation_vector": [
+                0.596711731567788,
+                -0.012781639328747374,
+                0.6535441702424367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919612892987,
+                    -0.9339746977657367,
+                    0.35718797733871355
+                ],
+                [
+                    -0.9999440222563898,
+                    0.010416265391509071,
+                    -0.0018584318676316438
+                ],
+                [
+                    -0.001984836424726924,
+                    -0.3571872972947036,
+                    -0.9340306713784471
+                ]
+            ],
+            "translation_vector": [
+                0.596711731567788,
+                -0.012781639328747374,
+                0.6535441702424367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392913960559382,
+                    -0.9339736805866234,
+                    0.35719063721055855
+                ],
+                [
+                    -0.9999440222563691,
+                    0.010416265395245193,
+                    -0.0018584318578612927
+                ],
+                [
+                    -0.0019848660314757656,
+                    -0.35718995700704165,
+                    -0.9340296541974166
+                ]
+            ],
+            "translation_vector": [
+                0.5967109198351941,
+                -0.012781639331728998,
+                0.6535454964654731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912427801956,
+                    -0.933973407454061,
+                    0.35719135143494
+                ],
+                [
+                    -0.9999440222564941,
+                    0.010416265386742268,
+                    -0.001858431838138252
+                ],
+                [
+                    -0.001984873994008375,
+                    -0.35719067118843373,
+                    -0.9340293810642065
+                ]
+            ],
+            "translation_vector": [
+                0.5967116381002099,
+                -0.012781639326678374,
+                0.6535449686443031
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535453666718145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903709783562,
+                    -0.9339718439945092,
+                    0.357195439749692
+                ],
+                [
+                    -0.9999440222567237,
+                    0.010416265373473324,
+                    -0.0018584317889218753
+                ],
+                [
+                    -0.001984919525789941,
+                    -0.35719475925769967,
+                    -0.9340278176014408
+                ]
+            ],
+            "translation_vector": [
+                0.5967122628949486,
+                -0.012781639319558823,
+                0.6535450103433036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903709783562,
+                    -0.9339718439945092,
+                    0.357195439749692
+                ],
+                [
+                    -0.9999440222567237,
+                    0.010416265373473324,
+                    -0.0018584317889218753
+                ],
+                [
+                    -0.001984919525789941,
+                    -0.35719475925769967,
+                    -0.9340278176014408
+                ]
+            ],
+            "translation_vector": [
+                0.5967122628949486,
+                -0.012781639319558823,
+                0.6535450103433036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535454941189611
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535456467068518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535454941189611
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144bd3d3bb542721ac84354a28b99176de830c0
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.57,
+        "fv": 236.654,
+        "pu": 481.391,
+        "pv": 387.1705,
+        "distortion_model": "equidistant",
+        "k1": 0.0998943,
+        "k2": -0.0477212,
+        "k3": 0.0138531,
+        "k4": -0.00177512
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..38efaa86fa9b01b6ae4b17b25cbe8a1ddd15ca33
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.021739553887738516,
+                0.07898492437710736,
+                -0.9966387377168846
+            ],
+            [
+                -0.005464312518363193,
+                -0.9968500540183962,
+                -0.07912086382378922
+            ],
+            [
+                -0.9997487349756757,
+                0.007165997813533757,
+                -0.021239477156292264
+            ]
+        ],
+        "translation_vector": [
+            -0.10160425179890685,
+            0.031164898762871446,
+            -0.03835550522900887
+        ]
+    }
+}
diff --git a/parameters/1957/1237123/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..47464e46d08cb2d49cdbb8c416f27bd6ece66e5c
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344817565405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339193346309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339193346309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339193346309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411339500132645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411339500132645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131622290049802,
+                    -0.9368308023005103,
+                    0.3494972748283374
+                ],
+                [
+                    -0.9997487557505915,
+                    0.007156164717858193,
+                    -0.021241814462889228
+                ],
+                [
+                    0.017398926018472816,
+                    -0.3497096469465976,
+                    -0.9366965571656013
+                ]
+            ],
+            "translation_vector": [
+                0.5627481172415647,
+                -0.038353806646226035,
+                0.6411332892437894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131622290049802,
+                    -0.9368308023005103,
+                    0.3494972748283374
+                ],
+                [
+                    -0.9997487557505915,
+                    0.007156164717858193,
+                    -0.021241814462889228
+                ],
+                [
+                    0.017398926018472816,
+                    -0.3497096469465976,
+                    -0.9366965571656013
+                ]
+            ],
+            "translation_vector": [
+                0.5627481172415647,
+                -0.038353806646226035,
+                0.6411332892437894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130841268902905,
+                    -0.9368465049211123,
+                    0.3494552124981535
+                ],
+                [
+                    -0.9997487557395398,
+                    0.00715616484340182,
+                    -0.021241814940727483
+                ],
+                [
+                    0.01739956097937879,
+                    -0.3496675785969163,
+                    -0.9367122502433148
+                ]
+            ],
+            "translation_vector": [
+                0.5627425713692005,
+                -0.03835380670572359,
+                0.6411321463405883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413109623498989,
+                    -0.93684137849538,
+                    0.3494689451983884
+                ],
+                [
+                    -0.9997487557439215,
+                    0.007156164785084003,
+                    -0.021241814754144824
+                ],
+                [
+                    0.01739935365690731,
+                    -0.3496813132617262,
+                    -0.9367071269334277
+                ]
+            ],
+            "translation_vector": [
+                0.5627460642571548,
+                -0.03835380667641927,
+                0.6411308703784859
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413109623498989,
+                    -0.93684137849538,
+                    0.3494689451983884
+                ],
+                [
+                    -0.9997487557439215,
+                    0.007156164785084003,
+                    -0.021241814754144824
+                ],
+                [
+                    0.01739935365690731,
+                    -0.3496813132617262,
+                    -0.9367071269334277
+                ]
+            ],
+            "translation_vector": [
+                0.5627460642571548,
+                -0.03835380667641927,
+                0.6411308703784859
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130470682900454,
+                    -0.9368539544762201,
+                    0.34943525549169846
+                ],
+                [
+                    -0.9997487557347335,
+                    0.007156164893189143,
+                    -0.02124181515017184
+                ],
+                [
+                    0.017399862215899026,
+                    -0.34964761873390526,
+                    -0.9367196952709909
+                ]
+            ],
+            "translation_vector": [
+                0.5627408900138946,
+                -0.038353806728373775,
+                0.6411306298082889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131082945205532,
+                    -0.9368416458858096,
+                    0.3494682289261265
+                ],
+                [
+                    -0.9997487557434422,
+                    0.007156164793745169,
+                    -0.021241814773793406
+                ],
+                [
+                    0.017399364477908436,
+                    -0.3496805968872346,
+                    -0.9367073941612466
+                ]
+            ],
+            "translation_vector": [
+                0.5627453365046045,
+                -0.03835380668115174,
+                0.6411315004717858
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131082945205532,
+                    -0.9368416458858096,
+                    0.3494682289261265
+                ],
+                [
+                    -0.9997487557434422,
+                    0.007156164793745169,
+                    -0.021241814773793406
+                ],
+                [
+                    0.017399364477908436,
+                    -0.3496805968872346,
+                    -0.9367073941612466
+                ]
+            ],
+            "translation_vector": [
+                0.5627453365046045,
+                -0.03835380668115174,
+                0.6411315004717858
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413090088160765,
+                    -0.9368453063144409,
+                    0.3494584233880714
+                ],
+                [
+                    -0.9997487557406203,
+                    0.007156164828517197,
+                    -0.021241814894898473
+                ],
+                [
+                    0.017399512503407016,
+                    -0.34967078994612844,
+                    -0.9367110523651864
+                ]
+            ],
+            "translation_vector": [
+                0.5627435092927524,
+                -0.03835380669815987,
+                0.6411317821127798
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131963051296607,
+                    -0.936823950829397,
+                    0.34951562593497465
+                ],
+                [
+                    -0.9997487557548577,
+                    0.007156164675526192,
+                    -0.021241814276356477
+                ],
+                [
+                    0.01739864899730018,
+                    -0.349728000679867,
+                    -0.9366897098578228
+                ]
+            ],
+            "translation_vector": [
+                0.5627493295439077,
+                -0.038353806627357934,
+                0.6411351024350485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131963051296607,
+                    -0.936823950829397,
+                    0.34951562593497465
+                ],
+                [
+                    -0.9997487557548577,
+                    0.007156164675526192,
+                    -0.021241814276356477
+                ],
+                [
+                    0.01739864899730018,
+                    -0.349728000679867,
+                    -0.9366897098578228
+                ]
+            ],
+            "translation_vector": [
+                0.5627493295439077,
+                -0.038353806627357934,
+                0.6411351024350485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131238427887187,
+                    -0.936838520148733,
+                    0.34947660188634516
+                ],
+                [
+                    -0.9997487557453053,
+                    0.0071561647762966455,
+                    -0.021241814691984842
+                ],
+                [
+                    0.017399238092753625,
+                    -0.3496889710460244,
+                    -0.9367042703236518
+                ]
+            ],
+            "translation_vector": [
+                0.5627457082016463,
+                -0.03835380667360854,
+                0.6411324790220635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411325616180954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411325616180954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.641133161026897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.641133161026897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411333812843841
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411333812843841
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411326379120407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.641134708326274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.641134708326274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411344510797466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131933246444794,
+                    -0.936824550232163,
+                    0.3495140205271085
+                ],
+                [
+                    -0.9997487557543173,
+                    0.00715616468296688,
+                    -0.021241814299271414
+                ],
+                [
+                    0.017398673237132112,
+                    -0.3497263950423761,
+                    -0.9366903088963031
+                ]
+            ],
+            "translation_vector": [
+                0.5627488605908239,
+                -0.03835380663113977,
+                0.6411353226886587
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131933246444794,
+                    -0.936824550232163,
+                    0.3495140205271085
+                ],
+                [
+                    -0.9997487557543173,
+                    0.00715616468296688,
+                    -0.021241814299271414
+                ],
+                [
+                    0.017398673237132112,
+                    -0.3497263950423761,
+                    -0.9366903088963031
+                ]
+            ],
+            "translation_vector": [
+                0.5627488605908239,
+                -0.03835380663113977,
+                0.6411353226886587
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411351637800821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411342984918561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411341089129636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411341089129636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411342984918561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344817565405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411349285811551
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130838042385789,
+                    -0.9368465694612785,
+                    0.34945503960431695
+                ],
+                [
+                    -0.999748755739959,
+                    0.007156164833520977,
+                    -0.021241814924345105
+                ],
+                [
+                    0.01739956357569087,
+                    -0.34966740567789606,
+                    -0.9367123147444291
+                ]
+            ],
+            "translation_vector": [
+                0.5627435579198795,
+                -0.03835380670004053,
+                0.6411312590071262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130838042385789,
+                    -0.9368465694612785,
+                    0.34945503960431695
+                ],
+                [
+                    -0.999748755739959,
+                    0.007156164833520977,
+                    -0.021241814924345105
+                ],
+                [
+                    0.01739956357569087,
+                    -0.34966740567789606,
+                    -0.9367123147444291
+                ]
+            ],
+            "translation_vector": [
+                0.5627435579198795,
+                -0.03835380670004053,
+                0.6411312590071262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131271460159297,
+                    -0.9368378562656655,
+                    0.3494783802103814
+                ],
+                [
+                    -0.9997487557454265,
+                    0.007156164778735089,
+                    -0.02124181468545281
+                ],
+                [
+                    0.017399211257721106,
+                    -0.34969074962488234,
+                    -0.9367036068439138
+                ]
+            ],
+            "translation_vector": [
+                0.5627451906105491,
+                -0.03835380667550975,
+                0.6411332986866638
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131023333008103,
+                    -0.936842844526098,
+                    0.3494650180487487
+                ],
+                [
+                    -0.9997487557423622,
+                    0.007156164808628997,
+                    -0.02124181481962254
+                ],
+                [
+                    0.01739941295450444,
+                    -0.34967738555057004,
+                    -0.936708592072987
+                ]
+            ],
+            "translation_vector": [
+                0.562744398585556,
+                -0.038353806688715464,
+                0.6411319409926085
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131023333008103,
+                    -0.936842844526098,
+                    0.3494650180487487
+                ],
+                [
+                    -0.9997487557423622,
+                    0.007156164808628997,
+                    -0.02124181481962254
+                ],
+                [
+                    0.01739941295450444,
+                    -0.34967738555057004,
+                    -0.936708592072987
+                ]
+            ],
+            "translation_vector": [
+                0.562744398585556,
+                -0.038353806688715464,
+                0.6411319409926085
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132581723406807,
+                    -0.9368115102945597,
+                    0.34954894408860493
+                ],
+                [
+                    -0.9997487557627289,
+                    0.0071561645958736165,
+                    -0.021241813932735394
+                ],
+                [
+                    0.017398146013509874,
+                    -0.3497613236021162,
+                    -0.9366772768821658
+                ]
+            ],
+            "translation_vector": [
+                0.5627518027182308,
+                -0.03835380659150249,
+                0.6411379768910955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132227682941364,
+                    -0.9368186298560937,
+                    0.34952987697086724
+                ],
+                [
+                    -0.999748755757983,
+                    0.007156164646858769,
+                    -0.02124181413891891
+                ],
+                [
+                    0.017398433868679897,
+                    -0.34974225375567525,
+                    -0.9366843921176538
+                ]
+            ],
+            "translation_vector": [
+                0.562749862715554,
+                -0.038353806615102945,
+                0.6411369463211143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132227682941364,
+                    -0.9368186298560937,
+                    0.34952987697086724
+                ],
+                [
+                    -0.999748755757983,
+                    0.007156164646858769,
+                    -0.02124181413891891
+                ],
+                [
+                    0.017398433868679897,
+                    -0.34974225375567525,
+                    -0.9366843921176538
+                ]
+            ],
+            "translation_vector": [
+                0.562749862715554,
+                -0.038353806615102945,
+                0.6411369463211143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141321946521455,
+                    -0.9368192938369411,
+                    0.34952809868331
+                ],
+                [
+                    -0.9997487557578618,
+                    0.007156164644420275,
+                    -0.021241814145451
+                ],
+                [
+                    0.01739846070552784,
+                    -0.3497404752133184,
+                    -0.9366850556951581
+                ]
+            ],
+            "translation_vector": [
+                0.5627503803134314,
+                -0.03835380661320174,
+                0.6411360503536985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131824089583918,
+                    -0.9368267449451384,
+                    0.34950814225622623
+                ],
+                [
+                    -0.9997487557530554,
+                    0.007156164694190698,
+                    -0.021241814354899594
+                ],
+                [
+                    0.017398761970883213,
+                    -0.34972051593003095,
+                    -0.936692502275701
+                ]
+            ],
+            "translation_vector": [
+                0.5627486990761348,
+                -0.038353806635851674,
+                0.6411345336905745
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131824089583918,
+                    -0.9368267449451384,
+                    0.34950814225622623
+                ],
+                [
+                    -0.9997487557530554,
+                    0.007156164694190698,
+                    -0.021241814354899594
+                ],
+                [
+                    0.017398761970883213,
+                    -0.34972051593003095,
+                    -0.936692502275701
+                ]
+            ],
+            "translation_vector": [
+                0.5627486990761348,
+                -0.038353806635851674,
+                0.6411345336905745
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130990300353061,
+                    -0.9368435083837935,
+                    0.34946323971524806
+                ],
+                [
+                    -0.9997487557422406,
+                    0.007156164806190623,
+                    -0.021241814826154785
+                ],
+                [
+                    0.017399439789066034,
+                    -0.34967560696224187,
+                    -0.9367092555273568
+                ]
+            ],
+            "translation_vector": [
+                0.5627449161740756,
+                -0.03835380668681426,
+                0.6411311976234569
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130990300353061,
+                    -0.9368435083837935,
+                    0.34946323971524806
+                ],
+                [
+                    -0.9997487557422406,
+                    0.007156164806190623,
+                    -0.021241814826154785
+                ],
+                [
+                    0.017399439789066034,
+                    -0.34967560696224187,
+                    -0.9367092555273568
+                ]
+            ],
+            "translation_vector": [
+                0.5627449161740756,
+                -0.03835380668681426,
+                0.6411311976234569
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131082945205532,
+                    -0.9368416458858096,
+                    0.3494682289261265
+                ],
+                [
+                    -0.9997487557434422,
+                    0.007156164793745169,
+                    -0.021241814773793406
+                ],
+                [
+                    0.017399364477908436,
+                    -0.3496805968872346,
+                    -0.9367073941612466
+                ]
+            ],
+            "translation_vector": [
+                0.5627453365046045,
+                -0.03835380668115174,
+                0.6411315004717858
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130990300353061,
+                    -0.9368435083837935,
+                    0.34946323971524806
+                ],
+                [
+                    -0.9997487557422406,
+                    0.007156164806190623,
+                    -0.021241814826154785
+                ],
+                [
+                    0.017399439789066034,
+                    -0.34967560696224187,
+                    -0.9367092555273568
+                ]
+            ],
+            "translation_vector": [
+                0.5627449161740756,
+                -0.03835380668681426,
+                0.6411311213295117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130990300353061,
+                    -0.9368435083837935,
+                    0.34946323971524806
+                ],
+                [
+                    -0.9997487557422406,
+                    0.007156164806190623,
+                    -0.021241814826154785
+                ],
+                [
+                    0.017399439789066034,
+                    -0.34967560696224187,
+                    -0.9367092555273568
+                ]
+            ],
+            "translation_vector": [
+                0.5627449161740756,
+                -0.03835380668681426,
+                0.6411311213295117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131284749826263,
+                    -0.9368375888674728,
+                    0.3494790964797473
+                ],
+                [
+                    -0.9997487557459064,
+                    0.007156164770073996,
+                    -0.02124181466580407
+                ],
+                [
+                    0.017399200436575876,
+                    -0.3496914659964764,
+                    -0.9367033396083331
+                ]
+            ],
+            "translation_vector": [
+                0.562745918364459,
+                -0.038353806670777285,
+                0.6411325923019733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131099461467933,
+                    -0.9368413139526472,
+                    0.34946911809126746
+                ],
+                [
+                    -0.9997487557435029,
+                    0.007156164794964344,
+                    -0.021241814770527143
+                ],
+                [
+                    0.017399351060547394,
+                    -0.3496814861797882,
+                    -0.9367070624297474
+                ]
+            ],
+            "translation_vector": [
+                0.5627450777101792,
+                -0.03835380668210232,
+                0.6411319103038561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411330477453081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411330477453081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332829336693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332829336693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411333136147875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411333506029909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411333506029909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411333506029909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411333962167379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411333962167379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411333962167379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131857120952006,
+                    -0.9368260810021833,
+                    0.3495099205579207
+                ],
+                [
+                    -0.9997487557531763,
+                    0.007156164696629385,
+                    -0.02124181434836748
+                ],
+                [
+                    0.017398735134738587,
+                    -0.3497222944865336,
+                    -0.9366918387360837
+                ]
+            ],
+            "translation_vector": [
+                0.5627481814811368,
+                -0.03835380663775288,
+                0.641135353360853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411351637800821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411351637800821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411346776513198
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411348302392104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411348302392104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411345643652535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411344510797466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411344510797466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411337297568579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411337297568579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131764479451659,
+                    -0.9368279437222622,
+                    0.3495049314298948
+                ],
+                [
+                    -0.9997487557519747,
+                    0.007156164709072624,
+                    -0.021241814400729368
+                ],
+                [
+                    0.0173988104500197,
+                    -0.3497173046444439,
+                    -0.9366937003242573
+                ]
+            ],
+            "translation_vector": [
+                0.5627477611674836,
+                -0.03835380664341537,
+                0.6411348979059256
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411333442971008
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131565905763819,
+                    -0.9368319364930077,
+                    0.349494236879256
+                ],
+                [
+                    -0.9997487557490924,
+                    0.007156164742620897,
+                    -0.0212418145251019
+                ],
+                [
+                    0.01739897190047183,
+                    -0.3497066085634341,
+                    -0.9366976906685897
+                ]
+            ],
+            "translation_vector": [
+                0.5627461927804805,
+                -0.038353806659472856,
+                0.6411349222676584
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131317782027105,
+                    -0.9368369249796688,
+                    0.3494808748020165
+                ],
+                [
+                    -0.9997487557460276,
+                    0.007156164772512675,
+                    -0.021241814659272187
+                ],
+                [
+                    0.017399173601455414,
+                    -0.34969324457356615,
+                    -0.936702676123859
+                ]
+            ],
+            "translation_vector": [
+                0.5627454007730018,
+                -0.03835380667267852,
+                0.6411335645548634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131317782027105,
+                    -0.9368369249796688,
+                    0.3494808748020165
+                ],
+                [
+                    -0.9997487557460276,
+                    0.007156164772512675,
+                    -0.021241814659272187
+                ],
+                [
+                    0.017399173601455414,
+                    -0.34969324457356615,
+                    -0.936702676123859
+                ]
+            ],
+            "translation_vector": [
+                0.5627454007730018,
+                -0.03835380667267852,
+                0.6411335645548634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413093068789765,
+                    -0.9368447070069774,
+                    0.3494600288314898
+                ],
+                [
+                    -0.9997487557411606,
+                    0.007156164821074973,
+                    -0.021241814871983827
+                ],
+                [
+                    0.017399488265344272,
+                    -0.34967239561919305,
+                    -0.9367104534219951
+                ]
+            ],
+            "translation_vector": [
+                0.5627439782537275,
+                -0.038353806694378,
+                0.6411315618517752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131145783708022,
+                    -0.9368403826913204,
+                    0.3494716126921052
+                ],
+                [
+                    -0.999748755744104,
+                    0.0071561647887417364,
+                    -0.021241814744346537
+                ],
+                [
+                    0.017399313404739544,
+                    -0.34968398113768046,
+                    -0.9367061317343593
+                ]
+            ],
+            "translation_vector": [
+                0.5627452878745065,
+                -0.03835380667927109,
+                0.6411320235820868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131145783708022,
+                    -0.9368403826913204,
+                    0.3494716126921052
+                ],
+                [
+                    -0.999748755744104,
+                    0.0071561647887417364,
+                    -0.021241814744346537
+                ],
+                [
+                    0.017399313404739544,
+                    -0.34968398113768046,
+                    -0.9367061317343593
+                ]
+            ],
+            "translation_vector": [
+                0.5627452878745065,
+                -0.03835380667927109,
+                0.6411320235820868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413178099518832,
+                    -0.9368276117542554,
+                    0.34950582058203733
+                ],
+                [
+                    -0.9997487557520359,
+                    0.007156164710292153,
+                    -0.021241814397463313
+                ],
+                [
+                    0.017398797032011647,
+                    -0.34971819392399134,
+                    -0.9366933685579191
+                ]
+            ],
+            "translation_vector": [
+                0.562747502369761,
+                -0.038353806644366,
+                0.6411353840342428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131873636617115,
+                    -0.9368257490294398,
+                    0.34951080970829596
+                ],
+                [
+                    -0.9997487557532373,
+                    0.007156164697848902,
+                    -0.02124181434510131
+                ],
+                [
+                    0.01739872171664265,
+                    -0.34972318376431266,
+                    -0.9366915069650096
+                ]
+            ],
+            "translation_vector": [
+                0.5627479226830543,
+                -0.0383538066387035,
+                0.6411357631956239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131873636617115,
+                    -0.9368257490294398,
+                    0.34951080970829596
+                ],
+                [
+                    -0.9997487557532373,
+                    0.007156164697848902,
+                    -0.02124181434510131
+                ],
+                [
+                    0.01739872171664265,
+                    -0.34972318376431266,
+                    -0.9366915069650096
+                ]
+            ],
+            "translation_vector": [
+                0.5627479226830543,
+                -0.0383538066387035,
+                0.6411357631956239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131764479451659,
+                    -0.9368279437222622,
+                    0.3495049314298948
+                ],
+                [
+                    -0.9997487557519747,
+                    0.007156164709072624,
+                    -0.021241814400729368
+                ],
+                [
+                    0.0173988104500197,
+                    -0.3497173046444439,
+                    -0.9366937003242573
+                ]
+            ],
+            "translation_vector": [
+                0.5627477611674836,
+                -0.03835380664341537,
+                0.6411349741998709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132012598007917,
+                    -0.9368229548923838,
+                    0.3495182933790921
+                ],
+                [
+                    -0.9997487557550397,
+                    0.007156164679184244,
+                    -0.021241814266558377
+                ],
+                [
+                    0.017398608742664,
+                    -0.3497306685061918,
+                    -0.9366887145258198
+                ]
+            ],
+            "translation_vector": [
+                0.5627485531492076,
+                -0.03835380663020977,
+                0.6411363319418932
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132012598007917,
+                    -0.9368229548923838,
+                    0.3495182933790921
+                ],
+                [
+                    -0.9997487557550397,
+                    0.007156164679184244,
+                    -0.021241814266558377
+                ],
+                [
+                    0.017398608742664,
+                    -0.3497306685061918,
+                    -0.9366887145258198
+                ]
+            ],
+            "translation_vector": [
+                0.5627485531492076,
+                -0.03835380663020977,
+                0.6411363319418932
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413128797627635,
+                    -0.936837524322866,
+                    0.34947926937192697
+                ],
+                [
+                    -0.9997487557454875,
+                    0.007156164779954473,
+                    -0.021241814682186704
+                ],
+                [
+                    0.01739919784018119,
+                    -0.34969163891383864,
+                    -0.9367032751027791
+                ]
+            ],
+            "translation_vector": [
+                0.5627449318144171,
+                -0.03835380667646037,
+                0.6411337085185957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413128797627635,
+                    -0.936837524322866,
+                    0.34947926937192697
+                ],
+                [
+                    -0.9997487557454875,
+                    0.007156164779954473,
+                    -0.021241814682186704
+                ],
+                [
+                    0.01739919784018119,
+                    -0.34969163891383864,
+                    -0.9367032751027791
+                ]
+            ],
+            "translation_vector": [
+                0.5627449318144171,
+                -0.03835380667646037,
+                0.6411337085185957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131192105847611,
+                    -0.936839451423349,
+                    0.34947410729046474
+                ],
+                [
+                    -0.9997487557447048,
+                    0.0071561647825189745,
+                    -0.021241814718165764
+                ],
+                [
+                    0.017399275748808375,
+                    -0.3496864760930926,
+                    -0.9367052010323272
+                ]
+            ],
+            "translation_vector": [
+                0.5627454980383289,
+                -0.03835380667643982,
+                0.6411323657427132
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131192105847611,
+                    -0.936839451423349,
+                    0.34947410729046474
+                ],
+                [
+                    -0.9997487557447048,
+                    0.0071561647825189745,
+                    -0.021241814718165764
+                ],
+                [
+                    0.017399275748808375,
+                    -0.3496864760930926,
+                    -0.9367052010323272
+                ]
+            ],
+            "translation_vector": [
+                0.5627454980383289,
+                -0.03835380667643982,
+                0.641132289448768
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131192105847611,
+                    -0.936839451423349,
+                    0.34947410729046474
+                ],
+                [
+                    -0.9997487557447048,
+                    0.0071561647825189745,
+                    -0.021241814718165764
+                ],
+                [
+                    0.017399275748808375,
+                    -0.3496864760930926,
+                    -0.9367052010323272
+                ]
+            ],
+            "translation_vector": [
+                0.5627454980383289,
+                -0.03835380667643982,
+                0.641132289448768
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131208622025836,
+                    -0.9368391194846056,
+                    0.3494749964535236
+                ],
+                [
+                    -0.9997487557447654,
+                    0.007156164783738324,
+                    -0.0212418147148996
+                ],
+                [
+                    0.017399262331343826,
+                    -0.3496873653835629,
+                    -0.9367048692952484
+                ]
+            ],
+            "translation_vector": [
+                0.5627452392431547,
+                -0.03835380667739041,
+                0.6411326992809914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411337297568579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411337297568579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344817565405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131456747028304,
+                    -0.9368341310818111,
+                    0.3494883585620494
+                ],
+                [
+                    -0.9997487557478298,
+                    0.007156164753845574,
+                    -0.021241814580729722
+                ],
+                [
+                    0.017399060631917717,
+                    -0.3497007294047361,
+                    -0.9366998839238334
+                ]
+            ],
+            "translation_vector": [
+                0.5627460312573307,
+                -0.03835380666418474,
+                0.641134133280984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131473263002438,
+                    -0.936833799129538,
+                    0.34948924772006135
+                ],
+                [
+                    -0.9997487557478907,
+                    0.007156164755065115,
+                    -0.02124181457746349
+                ],
+                [
+                    0.017399047214201664,
+                    -0.3497016186901566,
+                    -0.9366995521732265
+                ]
+            ],
+            "translation_vector": [
+                0.5627457724604789,
+                -0.03835380666513535,
+                0.6411344668197686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411345494242513
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411345494242513
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413165854812405,
+                    -0.9368300738298991,
+                    0.3494992260285356
+                ],
+                [
+                    -0.9997487557502938,
+                    0.0071561647301770425,
+                    -0.02124181447274
+                ],
+                [
+                    0.017398896586248352,
+                    -0.34971159842679045,
+                    -0.9366958291373784
+                ]
+            ],
+            "translation_vector": [
+                0.5627466130984626,
+                -0.038353806653810336,
+                0.6411352251298965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413178099518832,
+                    -0.9368276117542554,
+                    0.34950582058203733
+                ],
+                [
+                    -0.9997487557520359,
+                    0.007156164710292153,
+                    -0.021241814397463313
+                ],
+                [
+                    0.017398797032011647,
+                    -0.34971819392399134,
+                    -0.9366933685579191
+                ]
+            ],
+            "translation_vector": [
+                0.562747502369761,
+                -0.038353806644366,
+                0.6411353840342428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131734674323378,
+                    -0.9368285431066963,
+                    0.3495033260151898
+                ],
+                [
+                    -0.999748755751435,
+                    0.007156164716513768,
+                    -0.02124181442364439
+                ],
+                [
+                    0.017398834689511422,
+                    -0.34971569900011024,
+                    -0.9366942993444084
+                ]
+            ],
+            "translation_vector": [
+                0.562747292212357,
+                -0.038353806647197244,
+                0.6411351944543917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131827315952581,
+                    -0.9368266803951696,
+                    0.3495083151464059
+                ],
+                [
+                    -0.9997487557526364,
+                    0.0071561647040700995,
+                    -0.021241814371282367
+                ],
+                [
+                    0.017398759374389006,
+                    -0.3497206888453921,
+                    -0.936692437764786
+                ]
+            ],
+            "translation_vector": [
+                0.56274771252666,
+                -0.03835380664153473,
+                0.6411355736146535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131827315952581,
+                    -0.9368266803951696,
+                    0.3495083151464059
+                ],
+                [
+                    -0.9997487557526364,
+                    0.0071561647040700995,
+                    -0.021241814371282367
+                ],
+                [
+                    0.017398759374389006,
+                    -0.3497206888453921,
+                    -0.936692437764786
+                ]
+            ],
+            "translation_vector": [
+                0.56274771252666,
+                -0.03835380664153473,
+                0.6411355736146535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131827315952581,
+                    -0.9368266803951696,
+                    0.3495083151464059
+                ],
+                [
+                    -0.9997487557526364,
+                    0.0071561647040700995,
+                    -0.021241814371282367
+                ],
+                [
+                    0.017398759374389006,
+                    -0.3497206888453921,
+                    -0.936692437764786
+                ]
+            ],
+            "translation_vector": [
+                0.56274771252666,
+                -0.03835380664153473,
+                0.6411355736146535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131827315952581,
+                    -0.9368266803951696,
+                    0.3495083151464059
+                ],
+                [
+                    -0.9997487557526364,
+                    0.0071561647040700995,
+                    -0.021241814371282367
+                ],
+                [
+                    0.017398759374389006,
+                    -0.3497206888453921,
+                    -0.936692437764786
+                ]
+            ],
+            "translation_vector": [
+                0.56274771252666,
+                -0.03835380664153473,
+                0.6411355736146535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344817565405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344817565405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411346713350727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411346713350727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411346713350727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411341089129636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411341089129636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350811690457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411345124345296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411345124345296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131827315952581,
+                    -0.9368266803951696,
+                    0.3495083151464059
+                ],
+                [
+                    -0.9997487557526364,
+                    0.0071561647040700995,
+                    -0.021241814371282367
+                ],
+                [
+                    0.017398759374389006,
+                    -0.3497206888453921,
+                    -0.936692437764786
+                ]
+            ],
+            "translation_vector": [
+                0.56274771252666,
+                -0.03835380664153473,
+                0.6411356499085988
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131873636617115,
+                    -0.9368257490294398,
+                    0.34951080970829596
+                ],
+                [
+                    -0.9997487557532373,
+                    0.007156164697848902,
+                    -0.02124181434510131
+                ],
+                [
+                    0.01739872171664265,
+                    -0.34972318376431266,
+                    -0.9366915069650096
+                ]
+            ],
+            "translation_vector": [
+                0.5627479226830543,
+                -0.0383538066387035,
+                0.6411357631956239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131873636617115,
+                    -0.9368257490294398,
+                    0.34951080970829596
+                ],
+                [
+                    -0.9997487557532373,
+                    0.007156164697848902,
+                    -0.02124181434510131
+                ],
+                [
+                    0.01739872171664265,
+                    -0.34972318376431266,
+                    -0.9366915069650096
+                ]
+            ],
+            "translation_vector": [
+                0.5627479226830543,
+                -0.0383538066387035,
+                0.6411357631956239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130867848763462,
+                    -0.9368459701596147,
+                    0.34945664504990015
+                ],
+                [
+                    -0.9997487557404989,
+                    0.007156164826078577,
+                    -0.02124181490143074
+                ],
+                [
+                    0.017399539337736185,
+                    -0.34966901135312684,
+                    -0.9367117158070365
+                ]
+            ],
+            "translation_vector": [
+                0.5627440268809704,
+                -0.038353806696258666,
+                0.6411309624513714
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130867848763462,
+                    -0.9368459701596147,
+                    0.34945664504990015
+                ],
+                [
+                    -0.9997487557404989,
+                    0.007156164826078577,
+                    -0.02124181490143074
+                ],
+                [
+                    0.017399539337736185,
+                    -0.34966901135312684,
+                    -0.9367117158070365
+                ]
+            ],
+            "translation_vector": [
+                0.5627440268809704,
+                -0.038353806696258666,
+                0.6411309624513714
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131162299921932,
+                    -0.9368400507549454,
+                    0.3494725018560475
+                ],
+                [
+                    -0.9997487557441643,
+                    0.0071561647899610285,
+                    -0.02124181474108037
+                ],
+                [
+                    0.01739929998731893,
+                    -0.3496848704290346,
+                    -0.9367057999996481
+                ]
+            ],
+            "translation_vector": [
+                0.5627450290795123,
+                -0.038353806680221675,
+                0.6411325860020015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131115977717478,
+                    -0.9368409820186409,
+                    0.3494700072560932
+                ],
+                [
+                    -0.9997487557435638,
+                    0.007156164796183463,
+                    -0.021241814767261225
+                ],
+                [
+                    0.01739933764317096,
+                    -0.3496823754720266,
+                    -0.9367067306974047
+                ]
+            ],
+            "translation_vector": [
+                0.5627448189153651,
+                -0.038353806683052945,
+                0.6411323201356804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131115977717478,
+                    -0.9368409820186409,
+                    0.3494700072560932
+                ],
+                [
+                    -0.9997487557435638,
+                    0.007156164796183463,
+                    -0.021241814767261225
+                ],
+                [
+                    0.01739933764317096,
+                    -0.3496823754720266,
+                    -0.9367067306974047
+                ]
+            ],
+            "translation_vector": [
+                0.5627448189153651,
+                -0.038353806683052945,
+                0.6411323201356804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131271460159297,
+                    -0.9368378562656655,
+                    0.3494783802103814
+                ],
+                [
+                    -0.9997487557454265,
+                    0.007156164778735089,
+                    -0.02124181468545281
+                ],
+                [
+                    0.017399211257721106,
+                    -0.34969074962488234,
+                    -0.9367036068439138
+                ]
+            ],
+            "translation_vector": [
+                0.5627451906105491,
+                -0.03835380667550975,
+                0.6411332986866638
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131426941471226,
+                    -0.9368347304378367,
+                    0.34948675313674554
+                ],
+                [
+                    -0.9997487557472899,
+                    0.007156164761287166,
+                    -0.021241814603644427
+                ],
+                [
+                    0.017399084870881806,
+                    -0.3496991237497972,
+                    -0.9367004829155798
+                ]
+            ],
+            "translation_vector": [
+                0.5627455622997207,
+                -0.0383538066679666,
+                0.6411342772436358
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131426941471226,
+                    -0.9368347304378367,
+                    0.34948675313674554
+                ],
+                [
+                    -0.9997487557472899,
+                    0.007156164761287166,
+                    -0.021241814603644427
+                ],
+                [
+                    0.017399084870881806,
+                    -0.3496991237497972,
+                    -0.9367004829155798
+                ]
+            ],
+            "translation_vector": [
+                0.5627455622997207,
+                -0.0383538066679666,
+                0.6411342772436358
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413165854812405,
+                    -0.9368300738298991,
+                    0.3494992260285356
+                ],
+                [
+                    -0.9997487557502938,
+                    0.0071561647301770425,
+                    -0.02124181447274
+                ],
+                [
+                    0.017398896586248352,
+                    -0.34971159842679045,
+                    -0.9366958291373784
+                ]
+            ],
+            "translation_vector": [
+                0.5627466130984626,
+                -0.038353806653810336,
+                0.6411352251298965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413165854812405,
+                    -0.9368300738298991,
+                    0.3494992260285356
+                ],
+                [
+                    -0.9997487557502938,
+                    0.0071561647301770425,
+                    -0.02124181447274
+                ],
+                [
+                    0.017398896586248352,
+                    -0.34971159842679045,
+                    -0.9366958291373784
+                ]
+            ],
+            "translation_vector": [
+                0.5627466130984626,
+                -0.038353806653810336,
+                0.6411352251298965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.6411351118454702
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.641135035551525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.641135035551525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131565905763819,
+                    -0.9368319364930077,
+                    0.349494236879256
+                ],
+                [
+                    -0.9997487557490924,
+                    0.007156164742620897,
+                    -0.0212418145251019
+                ],
+                [
+                    0.01739897190047183,
+                    -0.3497066085634341,
+                    -0.9366976906685897
+                ]
+            ],
+            "translation_vector": [
+                0.5627461927804805,
+                -0.038353806659472856,
+                0.6411348459737132
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131704869153437,
+                    -0.9368291424883786,
+                    0.34950172059945744
+                ],
+                [
+                    -0.9997487557508947,
+                    0.007156164723954883,
+                    -0.021241814446559076
+                ],
+                [
+                    0.01739885892895177,
+                    -0.34971409335474835,
+                    -0.9366948983618079
+                ]
+            ],
+            "translation_vector": [
+                0.5627468232566964,
+                -0.03835380665097908,
+                0.6411354147088276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131704869153437,
+                    -0.9368291424883786,
+                    0.34950172059945744
+                ],
+                [
+                    -0.9997487557508947,
+                    0.007156164723954883,
+                    -0.021241814446559076
+                ],
+                [
+                    0.01739885892895177,
+                    -0.34971409335474835,
+                    -0.9366948983618079
+                ]
+            ],
+            "translation_vector": [
+                0.5627468232566964,
+                -0.03835380665097908,
+                0.6411354147088276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.641135035551525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.6411351118454702
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.6411351118454702
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411341395906773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.6411349592575797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.6411349592575797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.641135035551525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.641135035551525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.6411349592575797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131612226993997,
+                    -0.9368310051647757,
+                    0.34949673145513527
+                ],
+                [
+                    -0.9997487557496931,
+                    0.007156164736398925,
+                    -0.021241814498920902
+                ],
+                [
+                    0.017398934243421774,
+                    -0.3497091034963524,
+                    -0.9366967599063059
+                ]
+            ],
+            "translation_vector": [
+                0.562746402939724,
+                -0.03835380665664159,
+                0.6411349592575797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413178422156389,
+                    -0.9368275472047155,
+                    0.3495059934723766
+                ],
+                [
+                    -0.9997487557516169,
+                    0.007156164720172056,
+                    -0.021241814413846104
+                ],
+                [
+                    0.01739879443552543,
+                    -0.349718366839512,
+                    -0.9366933040474325
+                ]
+            ],
+            "translation_vector": [
+                0.5627465158173949,
+                -0.03835380665004908,
+                0.6411363476614896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130887591702168,
+                    -0.9368455736968238,
+                    0.34945770711280755
+                ],
+                [
+                    -0.9997487557401409,
+                    0.007156164837178871,
+                    -0.02124181491454679
+                ],
+                [
+                    0.017399523324258384,
+                    -0.349670073568633,
+                    -0.9367113195849596
+                ]
+            ],
+            "translation_vector": [
+                0.5627427815363418,
+                -0.03835380670289233,
+                0.6411324122035897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130887591702168,
+                    -0.9368455736968238,
+                    0.34945770711280755
+                ],
+                [
+                    -0.9997487557401409,
+                    0.007156164837178871,
+                    -0.02124181491454679
+                ],
+                [
+                    0.017399523324258384,
+                    -0.349670073568633,
+                    -0.9367113195849596
+                ]
+            ],
+            "translation_vector": [
+                0.5627427815363418,
+                -0.03835380670289233,
+                0.6411324122035897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131440231041542,
+                    -0.9368344630332404,
+                    0.34948746940372244
+                ],
+                [
+                    -0.9997487557477694,
+                    0.007156164752626296,
+                    -0.021241814583995718
+                ],
+                [
+                    0.017399074049617744,
+                    -0.3496998401190005,
+                    -0.9367002156735966
+                ]
+            ],
+            "translation_vector": [
+                0.5627462900537936,
+                -0.03835380666323413,
+                0.6411337234480086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130917398010428,
+                    -0.9368449743905877,
+                    0.3494593125566844
+                ],
+                [
+                    -0.999748755740681,
+                    0.00715616482973622,
+                    -0.021241814891632394
+                ],
+                [
+                    0.017399499086218906,
+                    -0.34967167924215636,
+                    -0.9367107206429957
+                ]
+            ],
+            "translation_vector": [
+                0.56274325049806,
+                -0.03835380669911046,
+                0.6411321919431157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130917398010428,
+                    -0.9368449743905877,
+                    0.3494593125566844
+                ],
+                [
+                    -0.999748755740681,
+                    0.00715616482973622,
+                    -0.021241814891632394
+                ],
+                [
+                    0.017399499086218906,
+                    -0.34967167924215636,
+                    -0.9367107206429957
+                ]
+            ],
+            "translation_vector": [
+                0.56274325049806,
+                -0.03835380669911046,
+                0.6411321919431157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413100681668679,
+                    -0.9368431764553679,
+                    0.349464128882156
+                ],
+                [
+                    -0.9997487557423014,
+                    0.007156164807409568,
+                    -0.021241814822888765
+                ],
+                [
+                    0.01739942637179324,
+                    -0.3496764962565636,
+                    -0.9367089238005939
+                ]
+            ],
+            "translation_vector": [
+                0.5627446573800103,
+                -0.03835380668776486,
+                0.641131531161183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132151558496505,
+                    -0.9368201606955288,
+                    0.34952577702757814
+                ],
+                [
+                    -0.9997487557568422,
+                    0.007156164660520726,
+                    -0.021241814188015077
+                ],
+                [
+                    0.017398495767574903,
+                    -0.34973815322574703,
+                    -0.9366859220268395
+                ]
+            ],
+            "translation_vector": [
+                0.5627491836108168,
+                -0.03835380662171605,
+                0.6411369006931997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132151558496505,
+                    -0.9368201606955288,
+                    0.34952577702757814
+                ],
+                [
+                    -0.9997487557568422,
+                    0.007156164660520726,
+                    -0.021241814188015077
+                ],
+                [
+                    0.017398495767574903,
+                    -0.34973815322574703,
+                    -0.9366859220268395
+                ]
+            ],
+            "translation_vector": [
+                0.5627491836108168,
+                -0.03835380662171605,
+                0.6411369006931997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413103984931657,
+                    -0.9368425125959838,
+                    0.3494659072150268
+                ],
+                [
+                    -0.9997487557424228,
+                    0.00715616480984835,
+                    -0.02124181481635643
+                ],
+                [
+                    0.017399399537200017,
+                    -0.3496782748442616,
+                    -0.9367082603445358
+                ]
+            ],
+            "translation_vector": [
+                0.5627441397907126,
+                -0.038353806689666065,
+                0.6411323508237885
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130513779936028,
+                    -0.9368530878420299,
+                    0.3494375772311412
+                ],
+                [
+                    -0.9997487557357533,
+                    0.007156164877084455,
+                    -0.021241815107609106
+                ],
+                [
+                    0.017399827158018005,
+                    -0.3496499408052383,
+                    -0.9367188291636745
+                ]
+            ],
+            "translation_vector": [
+                0.562742086735509,
+                -0.03835380671985943,
+                0.6411298557457313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130606426851643,
+                    -0.9368512254807523,
+                    0.34944256649301186
+                ],
+                [
+                    -0.9997487557369549,
+                    0.007156164864637288,
+                    -0.021241815055248255
+                ],
+                [
+                    0.017399751849398758,
+                    -0.3496549307812542,
+                    -0.9367169679342509
+                ]
+            ],
+            "translation_vector": [
+                0.5627425070764248,
+                -0.0383538067141969,
+                0.6411303111704352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130606426851643,
+                    -0.9368512254807523,
+                    0.34944256649301186
+                ],
+                [
+                    -0.9997487557369549,
+                    0.007156164864637288,
+                    -0.021241815055248255
+                ],
+                [
+                    0.017399751849398758,
+                    -0.3496549307812542,
+                    -0.9367169679342509
+                ]
+            ],
+            "translation_vector": [
+                0.5627425070764248,
+                -0.0383538067141969,
+                0.6411303111704352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131053139127556,
+                    -0.9368422452073296,
+                    0.349466623487951
+                ],
+                [
+                    -0.999748755742902,
+                    0.007156164801187123,
+                    -0.021241814796707798
+                ],
+                [
+                    0.01739938871623169,
+                    -0.34967899121941587,
+                    -0.9367079931184923
+                ]
+            ],
+            "translation_vector": [
+                0.5627448675453471,
+                -0.03835380668493358,
+                0.6411317207322398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131903441551665,
+                    -0.9368251496321772,
+                    0.34951241511821546
+                ],
+                [
+                    -0.9997487557537772,
+                    0.007156164690407823,
+                    -0.021241814322186393
+                ],
+                [
+                    0.017398697476912976,
+                    -0.349724789403858,
+                    -0.9366909079320319
+                ]
+            ],
+            "translation_vector": [
+                0.562748391637206,
+                -0.038353806634921626,
+                0.6411355429421837
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131903441551665,
+                    -0.9368251496321772,
+                    0.34951241511821546
+                ],
+                [
+                    -0.9997487557537772,
+                    0.007156164690407823,
+                    -0.021241814322186393
+                ],
+                [
+                    0.017398697476912976,
+                    -0.349724789403858,
+                    -0.9366909079320319
+                ]
+            ],
+            "translation_vector": [
+                0.562748391637206,
+                -0.038353806634921626,
+                0.6411355429421837
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131886925909627,
+                    -0.9368254816064453,
+                    0.3495115259684093
+                ],
+                [
+                    -0.9997487557537166,
+                    0.007156164689188336,
+                    -0.02124181432545257
+                ],
+                [
+                    0.017398710895037167,
+                    -0.34972390012664833,
+                    -0.9366912397046306
+                ]
+            ],
+            "translation_vector": [
+                0.5627486504350795,
+                -0.03835380663397103,
+                0.6411351331069679
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131886925909627,
+                    -0.9368254816064453,
+                    0.3495115259684093
+                ],
+                [
+                    -0.9997487557537166,
+                    0.007156164689188336,
+                    -0.02124181432545257
+                ],
+                [
+                    0.017398710895037167,
+                    -0.34972390012664833,
+                    -0.9366912397046306
+                ]
+            ],
+            "translation_vector": [
+                0.5627486504350795,
+                -0.03835380663397103,
+                0.6411351331069679
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131857120952006,
+                    -0.9368260810021833,
+                    0.3495099205579207
+                ],
+                [
+                    -0.9997487557531763,
+                    0.007156164696629385,
+                    -0.02124181434836748
+                ],
+                [
+                    0.017398735134738587,
+                    -0.3497222944865336,
+                    -0.9366918387360837
+                ]
+            ],
+            "translation_vector": [
+                0.5627481814811368,
+                -0.03835380663775288,
+                0.641135353360853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130960494146073,
+                    -0.9368441076967615,
+                    0.3494616342738825
+                ],
+                [
+                    -0.9997487557417007,
+                    0.007156164813632728,
+                    -0.021241814849069285
+                ],
+                [
+                    0.017399464027230672,
+                    -0.34967400129123133,
+                    -0.9367098544760517
+                ]
+            ],
+            "translation_vector": [
+                0.5627444472141685,
+                -0.038353806690596126,
+                0.6411313415906861
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131238427887187,
+                    -0.936838520148733,
+                    0.34947660188634516
+                ],
+                [
+                    -0.9997487557453053,
+                    0.0071561647762966455,
+                    -0.021241814691984842
+                ],
+                [
+                    0.017399238092753625,
+                    -0.3496889710460244,
+                    -0.9367042703236518
+                ]
+            ],
+            "translation_vector": [
+                0.5627457082016463,
+                -0.03835380667360854,
+                0.6411325553160087
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131284749826263,
+                    -0.9368375888674728,
+                    0.3494790964797473
+                ],
+                [
+                    -0.9997487557459064,
+                    0.007156164770073996,
+                    -0.02124181466580407
+                ],
+                [
+                    0.017399200436575876,
+                    -0.3496914659964764,
+                    -0.9367033396083331
+                ]
+            ],
+            "translation_vector": [
+                0.562745918364459,
+                -0.038353806670777285,
+                0.6411326685959187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131284749826263,
+                    -0.9368375888674728,
+                    0.3494790964797473
+                ],
+                [
+                    -0.9997487557459064,
+                    0.007156164770073996,
+                    -0.02124181466580407
+                ],
+                [
+                    0.017399200436575876,
+                    -0.3496914659964764,
+                    -0.9367033396083331
+                ]
+            ],
+            "translation_vector": [
+                0.562745918364459,
+                -0.038353806670777285,
+                0.6411326685959187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131440231041542,
+                    -0.9368344630332404,
+                    0.34948746940372244
+                ],
+                [
+                    -0.9997487557477694,
+                    0.007156164752626296,
+                    -0.021241814583995718
+                ],
+                [
+                    0.017399074049617744,
+                    -0.3496998401190005,
+                    -0.9367002156735966
+                ]
+            ],
+            "translation_vector": [
+                0.5627462900537936,
+                -0.03835380666323413,
+                0.6411336471540632
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411341026011552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411345643652535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411345643652535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131857120952006,
+                    -0.9368260810021833,
+                    0.3495099205579207
+                ],
+                [
+                    -0.9997487557531763,
+                    0.007156164696629385,
+                    -0.02124181434836748
+                ],
+                [
+                    0.017398735134738587,
+                    -0.3497222944865336,
+                    -0.9366918387360837
+                ]
+            ],
+            "translation_vector": [
+                0.5627481814811368,
+                -0.03835380663775288,
+                0.641135353360853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411344510797466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411344510797466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411348609141646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411342984918561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132303807115824,
+                    -0.9368170989987104,
+                    0.34953397690746074
+                ],
+                [
+                    -0.999748755759124,
+                    0.007156164633197543,
+                    -0.0212418140898228
+                ],
+                [
+                    0.017398371969451584,
+                    -0.34974635427890377,
+                    -0.9366828621905223
+                ]
+            ],
+            "translation_vector": [
+                0.5627505418186025,
+                -0.03835380660848989,
+                0.6411367630683881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132303807115824,
+                    -0.9368170989987104,
+                    0.34953397690746074
+                ],
+                [
+                    -0.999748755759124,
+                    0.007156164633197543,
+                    -0.0212418140898228
+                ],
+                [
+                    0.017398371969451584,
+                    -0.34974635427890377,
+                    -0.9366828621905223
+                ]
+            ],
+            "translation_vector": [
+                0.5627505418186025,
+                -0.03835380660848989,
+                0.6411367630683881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131331071665323,
+                    -0.9368366575795677,
+                    0.3494815910706705
+                ],
+                [
+                    -0.9997487557465069,
+                    0.007156164763851842,
+                    -0.021241814639623244
+                ],
+                [
+                    0.01739916278027445,
+                    -0.3496939609444478,
+                    -0.9367024088863704
+                ]
+            ],
+            "translation_vector": [
+                0.5627461285267666,
+                -0.03835380666794602,
+                0.6411328581703335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131175589656863,
+                    -0.936839783361248,
+                    0.3494732181270905
+                ],
+                [
+                    -0.999748755744644,
+                    0.007156164781299919,
+                    -0.02124181472143179
+                ],
+                [
+                    0.017399289166257166,
+                    -0.3496855868023067,
+                    -0.9367055327685623
+                ]
+            ],
+            "translation_vector": [
+                0.5627457568331139,
+                -0.03835380667548921,
+                0.6411318796162986
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131175589656863,
+                    -0.936839783361248,
+                    0.3494732181270905
+                ],
+                [
+                    -0.999748755744644,
+                    0.007156164781299919,
+                    -0.02124181472143179
+                ],
+                [
+                    0.017399289166257166,
+                    -0.3496855868023067,
+                    -0.9367055327685623
+                ]
+            ],
+            "translation_vector": [
+                0.5627457568331139,
+                -0.03835380667548921,
+                0.6411318796162986
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411346713350727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131529647532901,
+                    -0.936832664953224,
+                    0.3494922856751799
+                ],
+                [
+                    -0.9997487557493896,
+                    0.007156164730302269,
+                    -0.021241814515251152
+                ],
+                [
+                    0.017399001332503276,
+                    -0.349704657079361,
+                    -0.9366984186864193
+                ]
+            ],
+            "translation_vector": [
+                0.5627476969227927,
+                -0.03835380665188855,
+                0.6411329863824271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131529647532901,
+                    -0.936832664953224,
+                    0.3494922856751799
+                ],
+                [
+                    -0.9997487557493896,
+                    0.007156164730302269,
+                    -0.021241814515251152
+                ],
+                [
+                    0.017399001332503276,
+                    -0.349704657079361,
+                    -0.9366984186864193
+                ]
+            ],
+            "translation_vector": [
+                0.5627476969227927,
+                -0.03835380665188855,
+                0.6411329863824271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131453520603812,
+                    -0.9368341956280957,
+                    0.3494881856704952
+                ],
+                [
+                    -0.9997487557482487,
+                    0.007156164743965642,
+                    -0.021241814564346928
+                ],
+                [
+                    0.017399063228343305,
+                    -0.3497005564879998,
+                    -0.9366999484310651
+                ]
+            ],
+            "translation_vector": [
+                0.5627470178065255,
+                -0.03835380665850166,
+                0.64113301706327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131453520603812,
+                    -0.9368341956280957,
+                    0.3494881856704952
+                ],
+                [
+                    -0.9997487557482487,
+                    0.007156164743965642,
+                    -0.021241814564346928
+                ],
+                [
+                    0.017399063228343305,
+                    -0.3497005564879998,
+                    -0.9366999484310651
+                ]
+            ],
+            "translation_vector": [
+                0.5627470178065255,
+                -0.03835380665850166,
+                0.64113301706327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411326379120407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131145783708022,
+                    -0.9368403826913204,
+                    0.3494716126921052
+                ],
+                [
+                    -0.999748755744104,
+                    0.0071561647887417364,
+                    -0.021241814744346537
+                ],
+                [
+                    0.017399313404739544,
+                    -0.34968398113768046,
+                    -0.9367061317343593
+                ]
+            ],
+            "translation_vector": [
+                0.5627452878745065,
+                -0.03835380667927109,
+                0.6411320998760321
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411330477453081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411330477453081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411345643652535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131857120952006,
+                    -0.9368260810021833,
+                    0.3495099205579207
+                ],
+                [
+                    -0.9997487557531763,
+                    0.007156164696629385,
+                    -0.02124181434836748
+                ],
+                [
+                    0.017398735134738587,
+                    -0.3497222944865336,
+                    -0.9366918387360837
+                ]
+            ],
+            "translation_vector": [
+                0.5627481814811368,
+                -0.03835380663775288,
+                0.641135353360853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131857120952006,
+                    -0.9368260810021833,
+                    0.3495099205579207
+                ],
+                [
+                    -0.9997487557531763,
+                    0.007156164696629385,
+                    -0.02124181434836748
+                ],
+                [
+                    0.017398735134738587,
+                    -0.3497222944865336,
+                    -0.9366918387360837
+                ]
+            ],
+            "translation_vector": [
+                0.5627481814811368,
+                -0.03835380663775288,
+                0.641135353360853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131331071665323,
+                    -0.9368366575795677,
+                    0.3494815910706705
+                ],
+                [
+                    -0.9997487557465069,
+                    0.007156164763851842,
+                    -0.021241814639623244
+                ],
+                [
+                    0.01739916278027445,
+                    -0.3496939609444478,
+                    -0.9367024088863704
+                ]
+            ],
+            "translation_vector": [
+                0.5627461285267666,
+                -0.03835380666794602,
+                0.6411327818763881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411331240392533
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411331240392533
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411337604364113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131966277644584,
+                    -0.9368238862780468,
+                    0.34951579882463885
+                ],
+                [
+                    -0.9997487557544388,
+                    0.00715616468540563,
+                    -0.021241814292739365
+                ],
+                [
+                    0.017398646400780298,
+                    -0.3497281735947123,
+                    -0.9366896453455263
+                ]
+            ],
+            "translation_vector": [
+                0.562748342994328,
+                -0.038353806633041006,
+                0.6411361423592438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131966277644584,
+                    -0.9368238862780468,
+                    0.34951579882463885
+                ],
+                [
+                    -0.9997487557544388,
+                    0.00715616468540563,
+                    -0.021241814292739365
+                ],
+                [
+                    0.017398646400780298,
+                    -0.3497281735947123,
+                    -0.9366896453455263
+                ]
+            ],
+            "translation_vector": [
+                0.562748342994328,
+                -0.038353806633041006,
+                0.6411361423592438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131764479451659,
+                    -0.9368279437222622,
+                    0.3495049314298948
+                ],
+                [
+                    -0.9997487557519747,
+                    0.007156164709072624,
+                    -0.021241814400729368
+                ],
+                [
+                    0.0173988104500197,
+                    -0.3497173046444439,
+                    -0.9366937003242573
+                ]
+            ],
+            "translation_vector": [
+                0.5627477611674836,
+                -0.03835380664341537,
+                0.6411349741998709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131764479451659,
+                    -0.9368279437222622,
+                    0.3495049314298948
+                ],
+                [
+                    -0.9997487557519747,
+                    0.007156164709072624,
+                    -0.021241814400729368
+                ],
+                [
+                    0.0173988104500197,
+                    -0.3497173046444439,
+                    -0.9366937003242573
+                ]
+            ],
+            "translation_vector": [
+                0.5627477611674836,
+                -0.03835380664341537,
+                0.6411349741998709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131489778963705,
+                    -0.9368334671764206,
+                    0.3494901368777578
+                ],
+                [
+                    -0.9997487557479512,
+                    0.007156164756284495,
+                    -0.021241814574197375
+                ],
+                [
+                    0.017399033796470186,
+                    -0.34970250797526126,
+                    -0.9366992204217754
+                ]
+            ],
+            "translation_vector": [
+                0.5627455136632379,
+                -0.03835380666608594,
+                0.6411348766522525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411327142059859
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411327142059859
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131565905763819,
+                    -0.9368319364930077,
+                    0.349494236879256
+                ],
+                [
+                    -0.9997487557490924,
+                    0.007156164742620897,
+                    -0.0212418145251019
+                ],
+                [
+                    0.01739897190047183,
+                    -0.3497066085634341,
+                    -0.9366976906685897
+                ]
+            ],
+            "translation_vector": [
+                0.5627461927804805,
+                -0.038353806659472856,
+                0.6411348459737132
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.6411330021345958
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.6411330021345958
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131456747028304,
+                    -0.9368341310818111,
+                    0.3494883585620494
+                ],
+                [
+                    -0.9997487557478298,
+                    0.007156164753845574,
+                    -0.021241814580729722
+                ],
+                [
+                    0.017399060631917717,
+                    -0.3497007294047361,
+                    -0.9366998839238334
+                ]
+            ],
+            "translation_vector": [
+                0.5627460312573307,
+                -0.03835380666418474,
+                0.6411340569870386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131456747028304,
+                    -0.9368341310818111,
+                    0.3494883585620494
+                ],
+                [
+                    -0.9997487557478298,
+                    0.007156164753845574,
+                    -0.021241814580729722
+                ],
+                [
+                    0.017399060631917717,
+                    -0.3497007294047361,
+                    -0.9366998839238334
+                ]
+            ],
+            "translation_vector": [
+                0.5627460312573307,
+                -0.03835380666418474,
+                0.6411340569870386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411345124345296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411345124345296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411345124345296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411351637800821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411351637800821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411351637800821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411351637800821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411343291686499
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141324427657126,
+                    -0.9368143046765344,
+                    0.34954146050918855
+                ],
+                [
+                    -0.9997487557609266,
+                    0.007156164614535272,
+                    -0.02124181401127907
+                ],
+                [
+                    0.017398258992035696,
+                    -0.3497538389516725,
+                    -0.9366800695662393
+                ]
+            ],
+            "translation_vector": [
+                0.5627511722706887,
+                -0.038353806599996175,
+                0.6411373318302506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131628742847974,
+                    -0.9368306732045534,
+                    0.34949762061018125
+                ],
+                [
+                    -0.9997487557497537,
+                    0.00715616473761813,
+                    -0.02124181449565503
+                ],
+                [
+                    0.017398920825558585,
+                    -0.34970999277880516,
+                    -0.936696428147751
+                ]
+            ],
+            "translation_vector": [
+                0.5627461441419432,
+                -0.038353806657592214,
+                0.6411354453846074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131628742847974,
+                    -0.9368306732045534,
+                    0.34949762061018125
+                ],
+                [
+                    -0.9997487557497537,
+                    0.00715616473761813,
+                    -0.02124181449565503
+                ],
+                [
+                    0.017398920825558585,
+                    -0.34970999277880516,
+                    -0.936696428147751
+                ]
+            ],
+            "translation_vector": [
+                0.5627461441419432,
+                -0.038353806657592214,
+                0.6411354453846074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131364103794402,
+                    -0.9368359936870273,
+                    0.34948336939117286
+                ],
+                [
+                    -0.9997487557466284,
+                    0.007156164766290166,
+                    -0.02124181463309145
+                ],
+                [
+                    0.01739913594506625,
+                    -0.3496957395197697,
+                    -0.9367017453971608
+                ]
+            ],
+            "translation_vector": [
+                0.5627456109349497,
+                -0.038353806669847265,
+                0.6411337541296772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131364103794402,
+                    -0.9368359936870273,
+                    0.34948336939117286
+                ],
+                [
+                    -0.9997487557466284,
+                    0.007156164766290166,
+                    -0.02124181463309145
+                ],
+                [
+                    0.01739913594506625,
+                    -0.3496957395197697,
+                    -0.9367017453971608
+                ]
+            ],
+            "translation_vector": [
+                0.5627456109349497,
+                -0.038353806669847265,
+                0.6411337541296772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131873636617115,
+                    -0.9368257490294398,
+                    0.34951080970829596
+                ],
+                [
+                    -0.9997487557532373,
+                    0.007156164697848902,
+                    -0.02124181434510131
+                ],
+                [
+                    0.01739872171664265,
+                    -0.34972318376431266,
+                    -0.9366915069650096
+                ]
+            ],
+            "translation_vector": [
+                0.5627479226830543,
+                -0.0383538066387035,
+                0.6411357631956239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411333136147875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411333136147875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131314555581595,
+                    -0.9368369895245718,
+                    0.34948070190994707
+                ],
+                [
+                    -0.9997487557464463,
+                    0.00715616476263239,
+                    -0.021241814642889528
+                ],
+                [
+                    0.017399176197855516,
+                    -0.3496930716563142,
+                    -0.9367027406297094
+                ]
+            ],
+            "translation_vector": [
+                0.5627463873220917,
+                -0.038353806666995435,
+                0.6411324483372657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131331071665323,
+                    -0.9368366575795677,
+                    0.3494815910706705
+                ],
+                [
+                    -0.9997487557465069,
+                    0.007156164763851842,
+                    -0.021241814639623244
+                ],
+                [
+                    0.01739916278027445,
+                    -0.3496939609444478,
+                    -0.9367024088863704
+                ]
+            ],
+            "translation_vector": [
+                0.5627461285267666,
+                -0.03835380666794602,
+                0.6411328581703335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.641133161026897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411335031908815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335095003662
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335095003662
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411337297568579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411344880713081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411344880713081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131734674323378,
+                    -0.9368285431066963,
+                    0.3495033260151898
+                ],
+                [
+                    -0.999748755751435,
+                    0.007156164716513768,
+                    -0.02124181442364439
+                ],
+                [
+                    0.017398834689511422,
+                    -0.34971569900011024,
+                    -0.9366942993444084
+                ]
+            ],
+            "translation_vector": [
+                0.562747292212357,
+                -0.038353806647197244,
+                0.6411351944543917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131115977717478,
+                    -0.9368409820186409,
+                    0.3494700072560932
+                ],
+                [
+                    -0.9997487557435638,
+                    0.007156164796183463,
+                    -0.021241814767261225
+                ],
+                [
+                    0.01739933764317096,
+                    -0.3496823754720266,
+                    -0.9367067306974047
+                ]
+            ],
+            "translation_vector": [
+                0.5627448189153651,
+                -0.038353806683052945,
+                0.6411322438417352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131115977717478,
+                    -0.9368409820186409,
+                    0.3494700072560932
+                ],
+                [
+                    -0.9997487557435638,
+                    0.007156164796183463,
+                    -0.021241814767261225
+                ],
+                [
+                    0.01739933764317096,
+                    -0.3496823754720266,
+                    -0.9367067306974047
+                ]
+            ],
+            "translation_vector": [
+                0.5627448189153651,
+                -0.038353806683052945,
+                0.6411322438417352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130867848763462,
+                    -0.9368459701596147,
+                    0.34945664504990015
+                ],
+                [
+                    -0.9997487557404989,
+                    0.007156164826078577,
+                    -0.02124181490143074
+                ],
+                [
+                    0.017399539337736185,
+                    -0.34966901135312684,
+                    -0.9367117158070365
+                ]
+            ],
+            "translation_vector": [
+                0.5627440268809704,
+                -0.038353806696258666,
+                0.641130886157426
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131162299921932,
+                    -0.9368400507549454,
+                    0.3494725018560475
+                ],
+                [
+                    -0.9997487557441643,
+                    0.0071561647899610285,
+                    -0.02124181474108037
+                ],
+                [
+                    0.01739929998731893,
+                    -0.3496848704290346,
+                    -0.9367057999996481
+                ]
+            ],
+            "translation_vector": [
+                0.5627450290795123,
+                -0.038353806680221675,
+                0.6411325097080561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131162299921932,
+                    -0.9368400507549454,
+                    0.3494725018560475
+                ],
+                [
+                    -0.9997487557441643,
+                    0.0071561647899610285,
+                    -0.02124181474108037
+                ],
+                [
+                    0.01739929998731893,
+                    -0.3496848704290346,
+                    -0.9367057999996481
+                ]
+            ],
+            "translation_vector": [
+                0.5627450290795123,
+                -0.038353806680221675,
+                0.6411325097080561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.641133913024302
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.641133913024302
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411341026011552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411341395906773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411341395906773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411341395906773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411341395906773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411341395906773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411341395906773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411342984918561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411342984918561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411348609141646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.641134708326274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132657846320971,
+                    -0.936809979353706,
+                    0.34955304399405357
+                ],
+                [
+                    -0.9997487557638699,
+                    0.007156164582213235,
+                    -0.021241813883638716
+                ],
+                [
+                    0.01739808411273168,
+                    -0.34976542409418093,
+                    -0.9366757468715762
+                ]
+            ],
+            "translation_vector": [
+                0.5627524818146115,
+                -0.0383538065848894,
+                0.6411380225269191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132290518082303,
+                    -0.9368173664388748,
+                    0.3495332606537531
+                ],
+                [
+                    -0.9997487557586445,
+                    0.00715616464185748,
+                    -0.021241814109471697
+                ],
+                [
+                    0.017398382791375788,
+                    -0.34974563792297764,
+                    -0.936683129468069
+                ]
+            ],
+            "translation_vector": [
+                0.5627498140678819,
+                -0.03835380661322234,
+                0.6411374694495432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132290518082303,
+                    -0.9368173664388748,
+                    0.3495332606537531
+                ],
+                [
+                    -0.9997487557586445,
+                    0.00715616464185748,
+                    -0.021241814109471697
+                ],
+                [
+                    0.017398382791375788,
+                    -0.34974563792297764,
+                    -0.936683129468069
+                ]
+            ],
+            "translation_vector": [
+                0.5627498140678819,
+                -0.03835380661322234,
+                0.6411374694495432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132102012106693,
+                    -0.9368211566538565,
+                    0.34952310959141275
+                ],
+                [
+                    -0.99974875575666,
+                    0.00715616465686222,
+                    -0.021241814197813434
+                ],
+                [
+                    0.017398536022607197,
+                    -0.34973548540737937,
+                    -0.9366869173801541
+                ]
+            ],
+            "translation_vector": [
+                0.5627499600071366,
+                -0.03835380661886422,
+                0.6411357474785047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014133911646553577,
+                    -0.9367847623594929,
+                    0.34962056797710955
+                ],
+                [
+                    -0.9997487557796726,
+                    0.007156164424167131,
+                    -0.02124181319312188
+                ],
+                [
+                    0.01739706465368838,
+                    -0.34983295774098183,
+                    -0.9366505451979584
+                ]
+            ],
+            "translation_vector": [
+                0.5627571690645413,
+                -0.03835380651412981,
+                0.6411441053123865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014133911646553577,
+                    -0.9367847623594929,
+                    0.34962056797710955
+                ],
+                [
+                    -0.9997487557796726,
+                    0.007156164424167131,
+                    -0.02124181319312188
+                ],
+                [
+                    0.01739706465368838,
+                    -0.34983295774098183,
+                    -0.9366505451979584
+                ]
+            ],
+            "translation_vector": [
+                0.5627571690645413,
+                -0.03835380651412981,
+                0.6411441053123865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132151558496505,
+                    -0.9368201606955288,
+                    0.34952577702757814
+                ],
+                [
+                    -0.9997487557568422,
+                    0.007156164660520726,
+                    -0.021241814188015077
+                ],
+                [
+                    0.017398495767574903,
+                    -0.34973815322574703,
+                    -0.9366859220268395
+                ]
+            ],
+            "translation_vector": [
+                0.5627491836108168,
+                -0.03835380662171605,
+                0.6411370532810904
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132551919417402,
+                    -0.9368121097544381,
+                    0.34954733870204757
+                ],
+                [
+                    -0.9997487557621885,
+                    0.007156164603313824,
+                    -0.021241813955650588
+                ],
+                [
+                    0.01739817025440203,
+                    -0.3497597179859471,
+                    -0.9366778759777504
+                ]
+            ],
+            "translation_vector": [
+                0.5627513337691621,
+                -0.038353806595284326,
+                0.6411382734335234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131966277644584,
+                    -0.9368238862780468,
+                    0.34951579882463885
+                ],
+                [
+                    -0.9997487557544388,
+                    0.00715616468540563,
+                    -0.021241814292739365
+                ],
+                [
+                    0.017398646400780298,
+                    -0.3497281735947123,
+                    -0.9366896453455263
+                ]
+            ],
+            "translation_vector": [
+                0.562748342994328,
+                -0.038353806633041006,
+                0.6411361423592438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131966277644584,
+                    -0.9368238862780468,
+                    0.34951579882463885
+                ],
+                [
+                    -0.9997487557544388,
+                    0.00715616468540563,
+                    -0.021241814292739365
+                ],
+                [
+                    0.017398646400780298,
+                    -0.3497281735947123,
+                    -0.9366896453455263
+                ]
+            ],
+            "translation_vector": [
+                0.562748342994328,
+                -0.038353806633041006,
+                0.6411361423592438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411338674111055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130993526847008,
+                    -0.936843443842114,
+                    0.3494634126085202
+                ],
+                [
+                    -0.9997487557418218,
+                    0.0071561648160709534,
+                    -0.021241814842537322
+                ],
+                [
+                    0.017399437192725895,
+                    -0.3496757798806972,
+                    -0.9367091910247295
+                ]
+            ],
+            "translation_vector": [
+                0.5627439296252308,
+                -0.038353806692497334,
+                0.6411321612528925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130993526847008,
+                    -0.936843443842114,
+                    0.3494634126085202
+                ],
+                [
+                    -0.9997487557418218,
+                    0.0071561648160709534,
+                    -0.021241814842537322
+                ],
+                [
+                    0.017399437192725895,
+                    -0.3496757798806972,
+                    -0.9367091910247295
+                ]
+            ],
+            "translation_vector": [
+                0.5627439296252308,
+                -0.038353806692497334,
+                0.6411321612528925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131271460159297,
+                    -0.9368378562656655,
+                    0.3494783802103814
+                ],
+                [
+                    -0.9997487557454265,
+                    0.007156164778735089,
+                    -0.02124181468545281
+                ],
+                [
+                    0.017399211257721106,
+                    -0.34969074962488234,
+                    -0.9367036068439138
+                ]
+            ],
+            "translation_vector": [
+                0.5627451906105491,
+                -0.03835380667550975,
+                0.6411333749806092
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411339437050508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411339437050508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131317782027105,
+                    -0.9368369249796688,
+                    0.3494808748020165
+                ],
+                [
+                    -0.9997487557460276,
+                    0.007156164772512675,
+                    -0.021241814659272187
+                ],
+                [
+                    0.017399173601455414,
+                    -0.34969324457356615,
+                    -0.936702676123859
+                ]
+            ],
+            "translation_vector": [
+                0.5627454007730018,
+                -0.03835380667267852,
+                0.641133488260918
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131317782027105,
+                    -0.9368369249796688,
+                    0.3494808748020165
+                ],
+                [
+                    -0.9997487557460276,
+                    0.007156164772512675,
+                    -0.021241814659272187
+                ],
+                [
+                    0.017399173601455414,
+                    -0.34969324457356615,
+                    -0.936702676123859
+                ]
+            ],
+            "translation_vector": [
+                0.5627454007730018,
+                -0.03835380667267852,
+                0.641133488260918
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131367330232418,
+                    -0.9368359291416319,
+                    0.34948354228305833
+                ],
+                [
+                    -0.9997487557462097,
+                    0.007156164776170405,
+                    -0.021241814649473886
+                ],
+                [
+                    0.017399133348656868,
+                    -0.3496959124368378,
+                    -0.9367016808908182
+                ]
+            ],
+            "translation_vector": [
+                0.5627446243828985,
+                -0.03835380667553034,
+                0.641134717756575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131380619839682,
+                    -0.9368356617394908,
+                    0.34948425855095133
+                ],
+                [
+                    -0.999748755746689,
+                    0.00715616476750929,
+                    -0.021241814629825245
+                ],
+                [
+                    0.017399122527438443,
+                    -0.34969662880695784,
+                    -0.9367014136512898
+                ]
+            ],
+            "translation_vector": [
+                0.5627453521384577,
+                -0.038353806670797845,
+                0.6411341639620081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.641134322857477
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131456747028304,
+                    -0.9368341310818111,
+                    0.3494883585620494
+                ],
+                [
+                    -0.9997487557478298,
+                    0.007156164753845574,
+                    -0.021241814580729722
+                ],
+                [
+                    0.017399060631917717,
+                    -0.3497007294047361,
+                    -0.9366998839238334
+                ]
+            ],
+            "translation_vector": [
+                0.5627460312573307,
+                -0.03835380666418474,
+                0.6411340569870386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131456747028304,
+                    -0.9368341310818111,
+                    0.3494883585620494
+                ],
+                [
+                    -0.9997487557478298,
+                    0.007156164753845574,
+                    -0.021241814580729722
+                ],
+                [
+                    0.017399060631917717,
+                    -0.3497007294047361,
+                    -0.9366998839238334
+                ]
+            ],
+            "translation_vector": [
+                0.5627460312573307,
+                -0.03835380666418474,
+                0.6411340569870386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411343598466389
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411345124345296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411343598466389
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a635e30a32fd5d739aadb95a7cde3740d05a795
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 321.7855224609375,
+        "fy": 428.5180257161458,
+        "ppx": 325.7337951660156,
+        "ppy": 236.8461710611979,
+        "distortion_model": "plumb bob",
+        "k1": -0.056978508830070496,
+        "k2": 0.064654640853405,
+        "k3": -0.02059057354927063,
+        "p1": -0.0007377127767540514,
+        "p2": 0.0011970652267336845
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d25f810955d0cf8c9c0927a0eb3c53cc88fe31
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                -0.7229113930571394,
+                0.32806240996220165,
+                -0.6080905960117944
+            ],
+            [
+                -0.04357163351711757,
+                -0.8999844231838301,
+                -0.43373903534166636
+            ],
+            [
+                -0.6895655375240537,
+                -0.28705938966747213,
+                0.6649032081911634
+            ]
+        ],
+        "translation_vector": [
+            -0.07829555950291489,
+            -0.015663006266547343,
+            0.011080525241457475
+        ]
+    }
+}
diff --git a/parameters/1957/1237123/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e0c8d3e5e50b59e4618f888973e487569b356dc
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424683123131264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424677995286106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424677995286106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424677995286106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424680590895228
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424680590895228
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660372271639876,
+                    -0.9543050063558335,
+                    -0.1361107953363393
+                ],
+                [
+                    -0.6895670948446698,
+                    -0.2870678686840269,
+                    0.6648979323751079
+                ],
+                [
+                    -0.6735884615032984,
+                    -0.08303007655906537,
+                    -0.73442807062109
+                ]
+            ],
+            "translation_vector": [
+                0.5104565179241564,
+                0.011081792326529007,
+                0.6424671294527126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660372271639876,
+                    -0.9543050063558335,
+                    -0.1361107953363393
+                ],
+                [
+                    -0.6895670948446698,
+                    -0.2870678686840269,
+                    0.6648979323751079
+                ],
+                [
+                    -0.6735884615032984,
+                    -0.08303007655906537,
+                    -0.73442807062109
+                ]
+            ],
+            "translation_vector": [
+                0.5104565179241564,
+                0.011081792326529007,
+                0.6424671294527126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26600697948793517,
+                    -0.9543087339067082,
+                    -0.13614377419875462
+                ],
+                [
+                    -0.6895670951924772,
+                    -0.287067868445801,
+                    0.6648979321172489
+                ],
+                [
+                    -0.6736004068374032,
+                    -0.08298722368750788,
+                    -0.7344219581501665
+                ]
+            ],
+            "translation_vector": [
+                0.5104510320141333,
+                0.011081792282461351,
+                0.6424683346608556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26601685490774923,
+                    -0.9543075171297547,
+                    -0.13613300721953212
+                ],
+                [
+                    -0.6895670950565398,
+                    -0.28706786854740357,
+                    0.6648979322143632
+                ],
+                [
+                    -0.6735965070576564,
+                    -0.08300121443264713,
+                    -0.7344239539138351
+                ]
+            ],
+            "translation_vector": [
+                0.5104545053124979,
+                0.011081792305289571,
+                0.6424662920824873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26601685490774923,
+                    -0.9543075171297547,
+                    -0.13613300721953212
+                ],
+                [
+                    -0.6895670950565398,
+                    -0.28706786854740357,
+                    0.6648979322143632
+                ],
+                [
+                    -0.6735965070576564,
+                    -0.08300121443264713,
+                    -0.7344239539138351
+                ]
+            ],
+            "translation_vector": [
+                0.5104545053124979,
+                0.011081792305289571,
+                0.6424662920824873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2659926280939812,
+                    -0.9543105017912701,
+                    -0.13615942115972768
+                ],
+                [
+                    -0.6895670953448548,
+                    -0.2870678683462205,
+                    0.6648979320022115
+                ],
+                [
+                    -0.6736060739165867,
+                    -0.08296689179457135,
+                    -0.7344190575200449
+                ]
+            ],
+            "translation_vector": [
+                0.5104493791445003,
+                0.011081792266320051,
+                0.6424679322057351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660163398182938,
+                    -0.9543075806023171,
+                    -0.13613356880149413
+                ],
+                [
+                    -0.6895670950708899,
+                    -0.2870678685343779,
+                    0.6648979322051047
+                ],
+                [
+                    -0.67359671046196,
+                    -0.08300048469787459,
+                    -0.7344238498270229
+                ]
+            ],
+            "translation_vector": [
+                0.5104537785818607,
+                0.011081792301361375,
+                0.6424669621608128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660163398182938,
+                    -0.9543075806023171,
+                    -0.13613356880149413
+                ],
+                [
+                    -0.6895670950708899,
+                    -0.2870678685343779,
+                    0.6648979322051047
+                ],
+                [
+                    -0.67359671046196,
+                    -0.08300048469787459,
+                    -0.7344238498270229
+                ]
+            ],
+            "translation_vector": [
+                0.5104537785818607,
+                0.011081792301361375,
+                0.6424669621608128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660092884954306,
+                    -0.9543084494263151,
+                    -0.13614125674349498
+                ],
+                [
+                    -0.6895670951590802,
+                    -0.28706786847127436,
+                    0.6648979321408872
+                ],
+                [
+                    -0.673599495032489,
+                    -0.08299049490696213,
+                    -0.7344224247986132
+                ]
+            ],
+            "translation_vector": [
+                0.5104519653562829,
+                0.011081792288407215,
+                0.6424677911883429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605042370796145,
+                    -0.9543033794693884,
+                    -0.1360964069258261
+                ],
+                [
+                    -0.6895670947089888,
+                    -0.28706786877085944,
+                    0.664897932478333
+                ],
+                [
+                    -0.6735832494498509,
+                    -0.08304877273423372,
+                    -0.7344307369711038
+                ]
+            ],
+            "translation_vector": [
+                0.5104577040995874,
+                0.011081792339697734,
+                0.6424679181874067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605042370796145,
+                    -0.9543033794693884,
+                    -0.1360964069258261
+                ],
+                [
+                    -0.6895670947089888,
+                    -0.28706786877085944,
+                    0.664897932478333
+                ],
+                [
+                    -0.6735832494498509,
+                    -0.08304877273423372,
+                    -0.7344307369711038
+                ]
+            ],
+            "translation_vector": [
+                0.5104577040995874,
+                0.011081792339697734,
+                0.6424679181874067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660223609368886,
+                    -0.9543068386324738,
+                    -0.13612700401044042
+                ],
+                [
+                    -0.689567095011399,
+                    -0.28706786857142913,
+                    0.6648979322508061
+                ],
+                [
+                    -0.6735943326358271,
+                    -0.08300901501133041,
+                    -0.7344250666117984
+                ]
+            ],
+            "translation_vector": [
+                0.5104541383414392,
+                0.011081792306459197,
+                0.6424674732944782
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424671877485436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424671877485436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424675982601699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424675982601699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679081400799
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679081400799
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424672640424889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.6424682603631497
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.6424682603631497
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424680527540227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604926923244826,
+                    -0.9543035218108696,
+                    -0.13609766566790213
+                ],
+                [
+                    -0.6895670947256876,
+                    -0.2870678687581241,
+                    0.6648979324665129
+                ],
+                [
+                    -0.6735837054237995,
+                    -0.08304713713331811,
+                    -0.7344305037248281
+                ]
+            ],
+            "translation_vector": [
+                0.5104572374316548,
+                0.011081792336724756,
+                0.6424682280635108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604926923244826,
+                    -0.9543035218108696,
+                    -0.13609766566790213
+                ],
+                [
+                    -0.6895670947256876,
+                    -0.2870678687581241,
+                    0.6648979324665129
+                ],
+                [
+                    -0.6735837054237995,
+                    -0.08304713713331811,
+                    -0.7344305037248281
+                ]
+            ],
+            "translation_vector": [
+                0.5104572374316548,
+                0.011081792336724756,
+                0.6424682280635108
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424684372972098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679001661322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424678498470963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424678498470963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679001661322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424683123131264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424685702404923
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660068551681215,
+                    -0.9543087492197996,
+                    -0.1361439097650312
+                ],
+                [
+                    -0.6895670951804762,
+                    -0.2870678684591166,
+                    0.6648979321239468
+                ],
+                [
+                    -0.6736004559439727,
+                    -0.08298704754889276,
+                    -0.7344219330134357
+                ]
+            ],
+            "translation_vector": [
+                0.5104520188107,
+                0.011081792287344811,
+                0.6424674569797196
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660068551681215,
+                    -0.9543087492197996,
+                    -0.1361439097650312
+                ],
+                [
+                    -0.6895670951804762,
+                    -0.2870678684591166,
+                    0.6648979321239468
+                ],
+                [
+                    -0.6736004559439727,
+                    -0.08298704754889276,
+                    -0.7344219330134357
+                ]
+            ],
+            "translation_vector": [
+                0.5104520188107,
+                0.011081792287344811,
+                0.6424674569797196
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660236397492155,
+                    -0.9543066810388824,
+                    -0.13612560971078524
+                ],
+                [
+                    -0.6895670950067017,
+                    -0.2870678685708503,
+                    0.6648979322559273
+                ],
+                [
+                    -0.6735938275983526,
+                    -0.08301082675616686,
+                    -0.734425325041736
+                ]
+            ],
+            "translation_vector": [
+                0.5104536182159616,
+                0.011081792304548668,
+                0.6424681936843439
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660140308203437,
+                    -0.9543078651169538,
+                    -0.13613608626163853
+                ],
+                [
+                    -0.6895670951042872,
+                    -0.28706786850890537,
+                    0.6648979321814663
+                ],
+                [
+                    -0.6735976222910453,
+                    -0.08299721348139864,
+                    -0.7344233832049296
+                ]
+            ],
+            "translation_vector": [
+                0.5104528452423382,
+                0.011081792295415506,
+                0.6424675819263875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660140308203437,
+                    -0.9543078651169538,
+                    -0.13613608626163853
+                ],
+                [
+                    -0.6895670951042872,
+                    -0.28706786850890537,
+                    0.6648979321814663
+                ],
+                [
+                    -0.6735976222910453,
+                    -0.08299721348139864,
+                    -0.7344233832049296
+                ]
+            ],
+            "translation_vector": [
+                0.5104528452423382,
+                0.011081792295415506,
+                0.6424675819263875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660743832585984,
+                    -0.9543004247367322,
+                    -0.13607028301892543
+                ],
+                [
+                    -0.6895670944590214,
+                    -0.28706786893236036,
+                    0.6648979326678472
+                ],
+                [
+                    -0.6735737857227678,
+                    -0.08308271766093749,
+                    -0.7344355773062559
+                ]
+            ],
+            "translation_vector": [
+                0.510460129888651,
+                0.01108179236497303,
+                0.6424689326263029
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660606718239601,
+                    -0.9543021158087944,
+                    -0.13608523311308404
+                ],
+                [
+                    -0.6895670946090537,
+                    -0.28706786883250884,
+                    0.6648979325553589
+                ],
+                [
+                    -0.6735792016838202,
+                    -0.08306329181305586,
+                    -0.7344328074181924
+                ]
+            ],
+            "translation_vector": [
+                0.5104582169957275,
+                0.011081792347875851,
+                0.642468966498908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660606718239601,
+                    -0.9543021158087944,
+                    -0.13608523311308404
+                ],
+                [
+                    -0.6895670946090537,
+                    -0.28706786883250884,
+                    0.6648979325553589
+                ],
+                [
+                    -0.6735792016838202,
+                    -0.08306329181305586,
+                    -0.7344328074181924
+                ]
+            ],
+            "translation_vector": [
+                0.5104582169957275,
+                0.011081792347875851,
+                0.642468966498908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605939303940007,
+                    -0.9543022735019903,
+                    -0.13608662742694413
+                ],
+                [
+                    -0.6895670946137511,
+                    -0.2870678688330877,
+                    0.6648979325502375
+                ],
+                [
+                    -0.6735797067916,
+                    -0.08306148007688632,
+                    -0.7344325490649094
+                ]
+            ],
+            "translation_vector": [
+                0.5104587371225274,
+                0.011081792349786372,
+                0.6424681698063659
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604504208645513,
+                    -0.9543040429686072,
+                    -0.13610227461357285
+                ],
+                [
+                    -0.6895670947661315,
+                    -0.2870678687335217,
+                    0.6648979324351908
+                ],
+                [
+                    -0.6735853749874732,
+                    -0.08304114832157375,
+                    -0.734429649652314
+                ]
+            ],
+            "translation_vector": [
+                0.5104570842842151,
+                0.011081792333644576,
+                0.6424677672226339
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604504208645513,
+                    -0.9543040429686072,
+                    -0.13610227461357285
+                ],
+                [
+                    -0.6895670947661315,
+                    -0.2870678687335217,
+                    0.6648979324351908
+                ],
+                [
+                    -0.6735853749874732,
+                    -0.08304114832157375,
+                    -0.734429649652314
+                ]
+            ],
+            "translation_vector": [
+                0.5104570842842151,
+                0.011081792333644576,
+                0.6424677672226339
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660127520008126,
+                    -0.9543080226847002,
+                    -0.136137480557607
+                ],
+                [
+                    -0.6895670951089844,
+                    -0.28706786850948396,
+                    0.6648979321763446
+                ],
+                [
+                    -0.6735981273102771,
+                    -0.08299540173431415,
+                    -0.7344231247551025
+                ]
+            ],
+            "translation_vector": [
+                0.5104533653666544,
+                0.011081792297326015,
+                0.6424669378319345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660127520008126,
+                    -0.9543080226847002,
+                    -0.136137480557607
+                ],
+                [
+                    -0.6895670951089844,
+                    -0.28706786850948396,
+                    0.6648979321763446
+                ],
+                [
+                    -0.6735981273102771,
+                    -0.08299540173431415,
+                    -0.7344231247551025
+                ]
+            ],
+            "translation_vector": [
+                0.5104533653666544,
+                0.011081792297326015,
+                0.6424669378319345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660163398182938,
+                    -0.9543075806023171,
+                    -0.13613356880149413
+                ],
+                [
+                    -0.6895670950708899,
+                    -0.2870678685343779,
+                    0.6648979322051047
+                ],
+                [
+                    -0.67359671046196,
+                    -0.08300048469787459,
+                    -0.7344238498270229
+                ]
+            ],
+            "translation_vector": [
+                0.5104537785818607,
+                0.011081792301361375,
+                0.6424669621608128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660127520008126,
+                    -0.9543080226847002,
+                    -0.136137480557607
+                ],
+                [
+                    -0.6895670951089844,
+                    -0.28706786850948396,
+                    0.6648979321763446
+                ],
+                [
+                    -0.6735981273102771,
+                    -0.08299540173431415,
+                    -0.7344231247551025
+                ]
+            ],
+            "translation_vector": [
+                0.5104533653666544,
+                0.011081792297326015,
+                0.6424668615379892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660127520008126,
+                    -0.9543080226847002,
+                    -0.136137480557607
+                ],
+                [
+                    -0.6895670951089844,
+                    -0.28706786850948396,
+                    0.6648979321763446
+                ],
+                [
+                    -0.6735981273102771,
+                    -0.08299540173431415,
+                    -0.7344231247551025
+                ]
+            ],
+            "translation_vector": [
+                0.5104533653666544,
+                0.011081792297326015,
+                0.6424668615379892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660241548364668,
+                    -0.9543066175584122,
+                    -0.13612504812769544
+                ],
+                [
+                    -0.6895670949923518,
+                    -0.2870678685838761,
+                    0.6648979322651863
+                ],
+                [
+                    -0.6735936241884671,
+                    -0.08301155649025159,
+                    -0.7344254291224626
+                ]
+            ],
+            "translation_vector": [
+                0.5104543449483915,
+                0.011081792308476888,
+                0.6424674473146167
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660169792268343,
+                    -0.9543075018140487,
+                    -0.13613287165288285
+                ],
+                [
+                    -0.6895670950685411,
+                    -0.2870678685340886,
+                    0.6648979322076656
+                ],
+                [
+                    -0.6735964579492418,
+                    -0.08300139057103463,
+                    -0.7344239790485539
+                ]
+            ],
+            "translation_vector": [
+                0.510453518519778,
+                0.011081792300406132,
+                0.6424673223555277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424676242383807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424676242383807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.6424674912847003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.6424674912847003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424677508480604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424676485764547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424676485764547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424676485764547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424674653079442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424674653079442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424674653079442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266046320881776,
+                    -0.9543038853140108,
+                    -0.13610088030521705
+                ],
+                [
+                    -0.689567094761434,
+                    -0.2870678687329426,
+                    0.6648979324403121
+                ],
+                [
+                    -0.6735848699069388,
+                    -0.08304296006110257,
+                    -0.7344299080353027
+                ]
+            ],
+            "translation_vector": [
+                0.5104565641581794,
+                0.011081792331734055,
+                0.6424684876180926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424684372972098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424684372972098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680008058548
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424681533937453
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424681533937453
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424680267796637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424680527540227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424680527540227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.642467749210675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.642467749210675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604273312736093,
+                    -0.9543043276226314,
+                    -0.13610479209359827
+                ],
+                [
+                    -0.6895670947995288,
+                    -0.28706786870805057,
+                    0.6648979324115509
+                ],
+                [
+                    -0.6735862869149447,
+                    -0.08303787711722388,
+                    -0.7344291831374916
+                ]
+            ],
+            "translation_vector": [
+                0.5104561509474522,
+                0.011081792327698632,
+                0.642468310682932
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.64246801041259
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660350425120815,
+                    -0.9543052756514768,
+                    -0.1361131772436288
+                ],
+                [
+                    -0.689567094890069,
+                    -0.2870678686452403,
+                    0.6648979323447701
+                ],
+                [
+                    -0.6735893242922332,
+                    -0.08302698148938985,
+                    -0.7344276292081439
+                ]
+            ],
+            "translation_vector": [
+                0.5104545977915546,
+                0.011081792315699576,
+                0.6424689320691391
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660254336474485,
+                    -0.954306459959996,
+                    -0.13612365382735198
+                ],
+                [
+                    -0.6895670949876547,
+                    -0.2870678685832971,
+                    0.6648979322703077
+                ],
+                [
+                    -0.673593119147587,
+                    -0.0830133682346682,
+                    -0.7344256875486869
+                ]
+            ],
+            "translation_vector": [
+                0.5104538248228184,
+                0.01108179230656635,
+                0.6424683202927655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660254336474485,
+                    -0.954306459959996,
+                    -0.13612365382735198
+                ],
+                [
+                    -0.6895670949876547,
+                    -0.2870678685832971,
+                    0.6648979322703077
+                ],
+                [
+                    -0.673593119147587,
+                    -0.0830133682346682,
+                    -0.7344256875486869
+                ]
+            ],
+            "translation_vector": [
+                0.5104538248228184,
+                0.01108179230656635,
+                0.6424683202927655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660104429980057,
+                    -0.9543083071819136,
+                    -0.13613999801526586
+                ],
+                [
+                    -0.6895670951423818,
+                    -0.287067868484011,
+                    0.6648979321527065
+                ],
+                [
+                    -0.673599039127064,
+                    -0.08299213051632297,
+                    -0.7344226581196003
+                ]
+            ],
+            "translation_vector": [
+                0.5104524320267871,
+                0.01108179229138016,
+                0.6424674813049804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660187731320723,
+                    -0.9543072807602923,
+                    -0.1361309157730343
+                ],
+                [
+                    -0.689567095049494,
+                    -0.28706786854653554,
+                    0.6648979322220459
+                ],
+                [
+                    -0.6735957495162145,
+                    -0.08300393205172191,
+                    -0.7344243415748444
+                ]
+            ],
+            "translation_vector": [
+                0.5104537251271324,
+                0.011081792302423812,
+                0.6424672963740156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660187731320723,
+                    -0.9543072807602923,
+                    -0.1361309157730343
+                ],
+                [
+                    -0.689567095049494,
+                    -0.28706786854653554,
+                    0.6648979322220459
+                ],
+                [
+                    -0.6735957495162145,
+                    -0.08300393205172191,
+                    -0.7344243415748444
+                ]
+            ],
+            "translation_vector": [
+                0.5104537251271324,
+                0.011081792302423812,
+                0.6424672963740156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604337252600707,
+                    -0.9543042487988691,
+                    -0.13610409493992429
+                ],
+                [
+                    -0.6895670947971806,
+                    -0.2870678687077611,
+                    0.6648979324141121
+                ],
+                [
+                    -0.6735860343771731,
+                    -0.0830387829872964,
+                    -0.7344293123317069
+                ]
+            ],
+            "translation_vector": [
+                0.5104558908840171,
+                0.011081792326743379,
+                0.6424687471738442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604696027907704,
+                    -0.9543038064854233,
+                    -0.13610018315085495
+                ],
+                [
+                    -0.6895670947590854,
+                    -0.28706786873265305,
+                    0.6648979324428733
+                ],
+                [
+                    -0.6735846173657616,
+                    -0.08304386593075505,
+                    -0.7344300372258047
+                ]
+            ],
+            "translation_vector": [
+                0.5104563040946487,
+                0.011081792330778809,
+                0.6424688478154517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604696027907704,
+                    -0.9543038064854233,
+                    -0.13610018315085495
+                ],
+                [
+                    -0.6895670947590854,
+                    -0.28706786873265305,
+                    0.6648979324428733
+                ],
+                [
+                    -0.6735846173657616,
+                    -0.08304386593075505,
+                    -0.7344300372258047
+                ]
+            ],
+            "translation_vector": [
+                0.5104563040946487,
+                0.011081792330778809,
+                0.6424688478154517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604273312736093,
+                    -0.9543043276226314,
+                    -0.13610479209359827
+                ],
+                [
+                    -0.6895670947995288,
+                    -0.28706786870805057,
+                    0.6648979324115509
+                ],
+                [
+                    -0.6735862869149447,
+                    -0.08303787711722388,
+                    -0.7344291831374916
+                ]
+            ],
+            "translation_vector": [
+                0.5104561509474522,
+                0.011081792327698632,
+                0.6424683869768772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660523418945303,
+                    -0.954303142964492,
+                    -0.13609431546001194
+                ],
+                [
+                    -0.689567094701943,
+                    -0.28706786876999096,
+                    0.6648979324860154
+                ],
+                [
+                    -0.6735824918128136,
+                    -0.08305149034152558,
+                    -0.734431124527885
+                ]
+            ],
+            "translation_vector": [
+                0.5104569239095911,
+                0.011081792336831953,
+                0.6424689987819896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660523418945303,
+                    -0.954303142964492,
+                    -0.13609431546001194
+                ],
+                [
+                    -0.689567094701943,
+                    -0.28706786876999096,
+                    0.6648979324860154
+                ],
+                [
+                    -0.6735824918128136,
+                    -0.08305149034152558,
+                    -0.734431124527885
+                ]
+            ],
+            "translation_vector": [
+                0.5104569239095911,
+                0.011081792336831953,
+                0.6424689987819896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660242791550192,
+                    -0.9543066022407973,
+                    -0.13612491256077394
+                ],
+                [
+                    -0.6895670950043532,
+                    -0.2870678685705609,
+                    0.6648979322584884
+                ],
+                [
+                    -0.6735935750787052,
+                    -0.08301173262847274,
+                    -0.734425454255712
+                ]
+            ],
+            "translation_vector": [
+                0.5104533581527099,
+                0.011081792303593413,
+                0.6424685538789068
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660242791550192,
+                    -0.9543066022407973,
+                    -0.13612491256077394
+                ],
+                [
+                    -0.6895670950043532,
+                    -0.2870678685705609,
+                    0.6648979322584884
+                ],
+                [
+                    -0.6735935750787052,
+                    -0.08301173262847274,
+                    -0.734425454255712
+                ]
+            ],
+            "translation_vector": [
+                0.5104533581527099,
+                0.011081792303593413,
+                0.6424685538789068
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266020567035424,
+                    -0.9543070596997673,
+                    -0.13612895989222004
+                ],
+                [
+                    -0.6895670950304466,
+                    -0.28706786855898253,
+                    0.6648979322364258
+                ],
+                [
+                    -0.6735950410784094,
+                    -0.0830064735318206,
+                    -0.7344247040959259
+                ]
+            ],
+            "translation_vector": [
+                0.5104539317343527,
+                0.011081792304441498,
+                0.6424674992748897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266020567035424,
+                    -0.9543070596997673,
+                    -0.13612895989222004
+                ],
+                [
+                    -0.6895670950304466,
+                    -0.28706786855898253,
+                    0.6648979322364258
+                ],
+                [
+                    -0.6735950410784094,
+                    -0.0830064735318206,
+                    -0.7344247040959259
+                ]
+            ],
+            "translation_vector": [
+                0.5104539317343527,
+                0.011081792304441498,
+                0.6424674229809445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266020567035424,
+                    -0.9543070596997673,
+                    -0.13612895989222004
+                ],
+                [
+                    -0.6895670950304466,
+                    -0.28706786855898253,
+                    0.6648979322364258
+                ],
+                [
+                    -0.6735950410784094,
+                    -0.0830064735318206,
+                    -0.7344247040959259
+                ]
+            ],
+            "translation_vector": [
+                0.5104539317343527,
+                0.011081792304441498,
+                0.6424674229809445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660212064423797,
+                    -0.9543069809058139,
+                    -0.13612826274279796
+                ],
+                [
+                    -0.6895670950280979,
+                    -0.28706786855869304,
+                    0.6648979322389866
+                ],
+                [
+                    -0.6735947885616786,
+                    -0.0830073794044859,
+                    -0.7344248333130821
+                ]
+            ],
+            "translation_vector": [
+                0.5104536716718326,
+                0.011081792303486247,
+                0.6424677831758046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.642467749210675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.642467749210675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424683123131264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660308153308273,
+                    -0.9543057966827255,
+                    -0.13611778617126002
+                ],
+                [
+                    -0.6895670949305124,
+                    -0.287067868620637,
+                    0.6648979323134483
+                ],
+                [
+                    -0.6735909937666255,
+                    -0.08302099266663943,
+                    -0.7344267750382857
+                ]
+            ],
+            "translation_vector": [
+                0.510454444642585,
+                0.01108179231261943,
+                0.6424684712394954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660314547339412,
+                    -0.9543057178749903,
+                    -0.1361170890198718
+                ],
+                [
+                    -0.6895670949281637,
+                    -0.28706786862034744,
+                    0.6648979323160095
+                ],
+                [
+                    -0.6735907412401667,
+                    -0.08302189853810628,
+                    -0.7344269042448353
+                ]
+            ],
+            "translation_vector": [
+                0.5104541845791424,
+                0.011081792311664186,
+                0.6424687551408973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424684696032865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424684696032865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603863028267444,
+                    -0.9543048334008893,
+                    -0.13610926546352423
+                ],
+                [
+                    -0.6895670948519739,
+                    -0.28706786867013284,
+                    0.664897932373531
+                ],
+                [
+                    -0.6735879073251896,
+                    -0.08303206443831805,
+                    -0.7344283541506166
+                ]
+            ],
+            "translation_vector": [
+                0.5104550110034308,
+                0.01108179231973499,
+                0.6424689564116914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604337252600707,
+                    -0.9543042487988691,
+                    -0.13610409493992429
+                ],
+                [
+                    -0.6895670947971806,
+                    -0.2870678687077611,
+                    0.6648979324141121
+                ],
+                [
+                    -0.6735860343771731,
+                    -0.0830387829872964,
+                    -0.7344293123317069
+                ]
+            ],
+            "translation_vector": [
+                0.5104558908840171,
+                0.011081792326743379,
+                0.6424687471738442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604157864664196,
+                    -0.954304469945439,
+                    -0.13610605083301083
+                ],
+                [
+                    -0.6895670948162279,
+                    -0.287067868695315,
+                    0.6648979323997313
+                ],
+                [
+                    -0.6735867428757124,
+                    -0.08303624151468365,
+                    -0.7344289498768448
+                ]
+            ],
+            "translation_vector": [
+                0.5104556842785002,
+                0.011081792324725654,
+                0.6424686968538658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660451664034856,
+                    -0.95430402764553,
+                    -0.1361021390458724
+                ],
+                [
+                    -0.6895670947781328,
+                    -0.2870678687202074,
+                    0.6648979324284924
+                ],
+                [
+                    -0.6735853258738558,
+                    -0.08304132445932012,
+                    -0.7344296747813602
+                ]
+            ],
+            "translation_vector": [
+                0.5104560974893999,
+                0.011081792328761083,
+                0.6424687974943728
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660451664034856,
+                    -0.95430402764553,
+                    -0.1361021390458724
+                ],
+                [
+                    -0.6895670947781328,
+                    -0.2870678687202074,
+                    0.6648979324284924
+                ],
+                [
+                    -0.6735853258738558,
+                    -0.08304132445932012,
+                    -0.7344296747813602
+                ]
+            ],
+            "translation_vector": [
+                0.5104560974893999,
+                0.011081792328761083,
+                0.6424687974943728
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660451664034856,
+                    -0.95430402764553,
+                    -0.1361021390458724
+                ],
+                [
+                    -0.6895670947781328,
+                    -0.2870678687202074,
+                    0.6648979324284924
+                ],
+                [
+                    -0.6735853258738558,
+                    -0.08304132445932012,
+                    -0.7344296747813602
+                ]
+            ],
+            "translation_vector": [
+                0.5104560974893999,
+                0.011081792328761083,
+                0.6424687974943728
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660451664034856,
+                    -0.95430402764553,
+                    -0.1361021390458724
+                ],
+                [
+                    -0.6895670947781328,
+                    -0.2870678687202074,
+                    0.6648979324284924
+                ],
+                [
+                    -0.6735853258738558,
+                    -0.08304132445932012,
+                    -0.7344296747813602
+                ]
+            ],
+            "translation_vector": [
+                0.5104560974893999,
+                0.011081792328761083,
+                0.6424687974943728
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424683123131264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424683123131264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424683626318083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424683626318083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424683626318083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424678498470963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424678498470963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.642468722828383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424685718733997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424685718733997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660451664034856,
+                    -0.95430402764553,
+                    -0.1361021390458724
+                ],
+                [
+                    -0.6895670947781328,
+                    -0.2870678687202074,
+                    0.6648979324284924
+                ],
+                [
+                    -0.6735853258738558,
+                    -0.08304132445932012,
+                    -0.7344296747813602
+                ]
+            ],
+            "translation_vector": [
+                0.5104560974893999,
+                0.011081792328761083,
+                0.6424688737883182
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604696027907704,
+                    -0.9543038064854233,
+                    -0.13610018315085495
+                ],
+                [
+                    -0.6895670947590854,
+                    -0.28706786873265305,
+                    0.6648979324428733
+                ],
+                [
+                    -0.6735846173657616,
+                    -0.08304386593075505,
+                    -0.7344300372258047
+                ]
+            ],
+            "translation_vector": [
+                0.5104563040946487,
+                0.011081792330778809,
+                0.6424688478154517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604696027907704,
+                    -0.9543038064854233,
+                    -0.13610018315085495
+                ],
+                [
+                    -0.6895670947590854,
+                    -0.28706786873265305,
+                    0.6648979324428733
+                ],
+                [
+                    -0.6735846173657616,
+                    -0.08304386593075505,
+                    -0.7344300372258047
+                ]
+            ],
+            "translation_vector": [
+                0.5104563040946487,
+                0.011081792330778809,
+                0.6424688478154517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660080096723443,
+                    -0.9543086069813064,
+                    -0.1361426510376439
+                ],
+                [
+                    -0.6895670951637777,
+                    -0.2870678684718532,
+                    0.6648979321357655
+                ],
+                [
+                    -0.6736000000427175,
+                    -0.08298868315876852,
+                    -0.7344221663389702
+                ]
+            ],
+            "translation_vector": [
+                0.5104524854809964,
+                0.011081792290317725,
+                0.642467070801615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660080096723443,
+                    -0.9543086069813064,
+                    -0.1361426510376439
+                ],
+                [
+                    -0.6895670951637777,
+                    -0.2870678684718532,
+                    0.6648979321357655
+                ],
+                [
+                    -0.6736000000427175,
+                    -0.08298868315876852,
+                    -0.7344221663389702
+                ]
+            ],
+            "translation_vector": [
+                0.5104524854809964,
+                0.011081792290317725,
+                0.642467070801615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660194125397004,
+                    -0.9543072019687514,
+                    -0.13613021862395638
+                ],
+                [
+                    -0.6895670950471451,
+                    -0.28706786854624605,
+                    0.6648979322246064
+                ],
+                [
+                    -0.6735954970011865,
+                    -0.08300483792459702,
+                    -0.7344244707938569
+                ]
+            ],
+            "translation_vector": [
+                0.51045346506466,
+                0.011081792301468557,
+                0.6424678091565703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660176186351349,
+                    -0.9543074230249207,
+                    -0.13613217450414933
+                ],
+                [
+                    -0.6895670950661926,
+                    -0.28706786853379934,
+                    0.6648979322102263
+                ],
+                [
+                    -0.6735962054359168,
+                    -0.08300229644411951,
+                    -0.7344241082694235
+                ]
+            ],
+            "translation_vector": [
+                0.5104532584573535,
+                0.011081792299450863,
+                0.6424676825499955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660176186351349,
+                    -0.9543074230249207,
+                    -0.13613217450414933
+                ],
+                [
+                    -0.6895670950661926,
+                    -0.28706786853379934,
+                    0.6648979322102263
+                ],
+                [
+                    -0.6735962054359168,
+                    -0.08300229644411951,
+                    -0.7344241082694235
+                ]
+            ],
+            "translation_vector": [
+                0.5104532584573535,
+                0.011081792299450863,
+                0.6424676825499955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660236397492155,
+                    -0.9543066810388824,
+                    -0.13612560971078524
+                ],
+                [
+                    -0.6895670950067017,
+                    -0.2870678685708503,
+                    0.6648979322559273
+                ],
+                [
+                    -0.6735938275983526,
+                    -0.08301082675616686,
+                    -0.734425325041736
+                ]
+            ],
+            "translation_vector": [
+                0.5104536182159616,
+                0.011081792304548668,
+                0.6424681936843439
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602966084204077,
+                    -0.9543059389765944,
+                    -0.13611904490654572
+                ],
+                [
+                    -0.6895670949472111,
+                    -0.287067868607901,
+                    0.664897932301629
+                ],
+                [
+                    -0.6735914497069674,
+                    -0.08301935706158087,
+                    -0.7344265417553678
+                ]
+            ],
+            "translation_vector": [
+                0.5104539779727353,
+                0.011081792309646479,
+                0.6424687048245743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602966084204077,
+                    -0.9543059389765944,
+                    -0.13611904490654572
+                ],
+                [
+                    -0.6895670949472111,
+                    -0.287067868607901,
+                    0.664897932301629
+                ],
+                [
+                    -0.6735914497069674,
+                    -0.08301935706158087,
+                    -0.7344265417553678
+                ]
+            ],
+            "translation_vector": [
+                0.5104539779727353,
+                0.011081792309646479,
+                0.6424687048245743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603863028267444,
+                    -0.9543048334008893,
+                    -0.13610926546352423
+                ],
+                [
+                    -0.6895670948519739,
+                    -0.28706786867013284,
+                    0.664897932373531
+                ],
+                [
+                    -0.6735879073251896,
+                    -0.08303206443831805,
+                    -0.7344283541506166
+                ]
+            ],
+            "translation_vector": [
+                0.5104550110034308,
+                0.01108179231973499,
+                0.6424689564116914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603863028267444,
+                    -0.9543048334008893,
+                    -0.13610926546352423
+                ],
+                [
+                    -0.6895670948519739,
+                    -0.28706786867013284,
+                    0.664897932373531
+                ],
+                [
+                    -0.6735879073251896,
+                    -0.08303206443831805,
+                    -0.7344283541506166
+                ]
+            ],
+            "translation_vector": [
+                0.5104550110034308,
+                0.01108179231973499,
+                0.6424689564116914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689823871128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689060931675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689060931675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660350425120815,
+                    -0.9543052756514768,
+                    -0.1361131772436288
+                ],
+                [
+                    -0.689567094890069,
+                    -0.2870678686452403,
+                    0.6648979323447701
+                ],
+                [
+                    -0.6735893242922332,
+                    -0.08302698148938985,
+                    -0.7344276292081439
+                ]
+            ],
+            "translation_vector": [
+                0.5104545977915546,
+                0.011081792315699576,
+                0.6424688557751939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660404241651411,
+                    -0.9543046122654434,
+                    -0.1361073095720242
+                ],
+                [
+                    -0.6895670948329266,
+                    -0.2870678686825794,
+                    0.6648979323879115
+                ],
+                [
+                    -0.673587198834502,
+                    -0.0830346059118988,
+                    -0.7344287166140402
+                ]
+            ],
+            "translation_vector": [
+                0.5104552176091679,
+                0.011081792321752697,
+                0.6424690067307655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660404241651411,
+                    -0.9543046122654434,
+                    -0.1361073095720242
+                ],
+                [
+                    -0.6895670948329266,
+                    -0.2870678686825794,
+                    0.6648979323879115
+                ],
+                [
+                    -0.673587198834502,
+                    -0.0830346059118988,
+                    -0.7344287166140402
+                ]
+            ],
+            "translation_vector": [
+                0.5104552176091679,
+                0.011081792321752697,
+                0.6424690067307655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689060931675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689823871128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689823871128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681094071041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424688297992223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424688297992223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689060931675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424689060931675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424688297992223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603683639832143,
+                    -0.9543050545295673,
+                    -0.1361112213540592
+                ],
+                [
+                    -0.6895670948710215,
+                    -0.28706786865768663,
+                    0.6648979323591506
+                ],
+                [
+                    -0.6735886158111002,
+                    -0.08302952296414838,
+                    -0.7344279916819847
+                ]
+            ],
+            "translation_vector": [
+                0.5104548043975596,
+                0.011081792317717288,
+                0.6424688297992223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604349684315876,
+                    -0.954304233476229,
+                    -0.136103959372286
+                ],
+                [
+                    -0.689567094809182,
+                    -0.28706786869444634,
+                    0.6648979324074138
+                ],
+                [
+                    -0.6735859852638639,
+                    -0.08303895912508032,
+                    -0.7344293374610891
+                ]
+            ],
+            "translation_vector": [
+                0.5104549040862866,
+                0.011081792321859877,
+                0.6424697011487516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660087734036898,
+                    -0.9543085128906806,
+                    -0.13614181832428776
+                ],
+                [
+                    -0.6895670951734301,
+                    -0.2870678684582482,
+                    0.6648979321316291
+                ],
+                [
+                    -0.673599698431007,
+                    -0.0829897651714765,
+                    -0.7344223207054924
+                ]
+            ],
+            "translation_vector": [
+                0.5104512386222346,
+                0.011081792284479034,
+                0.642468461264167
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660087734036898,
+                    -0.9543085128906806,
+                    -0.13614181832428776
+                ],
+                [
+                    -0.6895670951734301,
+                    -0.2870678684582482,
+                    0.6648979321316291
+                ],
+                [
+                    -0.673599698431007,
+                    -0.0829897651714765,
+                    -0.7344223207054924
+                ]
+            ],
+            "translation_vector": [
+                0.5104512386222346,
+                0.011081792284479034,
+                0.642468461264167
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660301759274735,
+                    -0.9543058754896011,
+                    -0.13611848332252552
+                ],
+                [
+                    -0.6895670949328612,
+                    -0.28706786862092654,
+                    0.6648979323108878
+                ],
+                [
+                    -0.6735912462924779,
+                    -0.0830200867950977,
+                    -0.7344266458310744
+                ]
+            ],
+            "translation_vector": [
+                0.5104547047056858,
+                0.0110817923135747,
+                0.6424681110439012
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660099279066141,
+                    -0.9543083706475295,
+                    -0.13614055959623686
+                ],
+                [
+                    -0.6895670951567316,
+                    -0.28706786847098514,
+                    0.664897932143448
+                ],
+                [
+                    -0.6735992425264644,
+                    -0.08299140078094644,
+                    -0.7344225540274422
+                ]
+            ],
+            "translation_vector": [
+                0.5104517052934133,
+                0.011081792287451953,
+                0.6424681513813367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660099279066141,
+                    -0.9543083706475295,
+                    -0.13614055959623686
+                ],
+                [
+                    -0.6895670951567316,
+                    -0.28706786847098514,
+                    0.664897932143448
+                ],
+                [
+                    -0.6735992425264644,
+                    -0.08299140078094644,
+                    -0.7344225540274422
+                ]
+            ],
+            "translation_vector": [
+                0.5104517052934133,
+                0.011081792287451953,
+                0.6424681513813367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26601339141069824,
+                    -0.9543079439012568,
+                    -0.1361367834096841
+                ],
+                [
+                    -0.6895670951066358,
+                    -0.28706786850919486,
+                    0.6648979321789052
+                ],
+                [
+                    -0.6735978748009646,
+                    -0.0829963076078939,
+                    -0.734423253980347
+                ]
+            ],
+            "translation_vector": [
+                0.5104531053046673,
+                0.011081792296370751,
+                0.642467221732312
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660577234930013,
+                    -0.954302479382646,
+                    -0.1360884477604819
+                ],
+                [
+                    -0.6895670946448003,
+                    -0.2870678688073279,
+                    0.664897932529158
+                ],
+                [
+                    -0.6735803662168697,
+                    -0.0830591147469948,
+                    -0.7344322117830854
+                ]
+            ],
+            "translation_vector": [
+                0.5104575437233273,
+                0.011081792342885135,
+                0.6424691497534796
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660577234930013,
+                    -0.954302479382646,
+                    -0.1360884477604819
+                ],
+                [
+                    -0.6895670946448003,
+                    -0.2870678688073279,
+                    0.664897932529158
+                ],
+                [
+                    -0.6735803662168697,
+                    -0.0830591147469948,
+                    -0.7344322117830854
+                ]
+            ],
+            "translation_vector": [
+                0.5104575437233273,
+                0.011081792342885135,
+                0.6424691497534796
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660146702297498,
+                    -0.9543077863317908,
+                    -0.13613538911347012
+                ],
+                [
+                    -0.6895670951019385,
+                    -0.2870678685086159,
+                    0.6648979321840272
+                ],
+                [
+                    -0.6735973697805188,
+                    -0.08299811935482886,
+                    -0.7344235124288504
+                ]
+            ],
+            "translation_vector": [
+                0.5104525851796673,
+                0.01108179229446025,
+                0.6424679421202165
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26599429770409966,
+                    -0.9543102961391967,
+                    -0.13615760085879342
+                ],
+                [
+                    -0.6895670953138067,
+                    -0.28706786837198395,
+                    0.6648979320232886
+                ],
+                [
+                    -0.6736054146526612,
+                    -0.08296925714434801,
+                    -0.7344193949777829
+                ]
+            ],
+            "translation_vector": [
+                0.510450572550175,
+                0.011081792273221152,
+                0.6424670285358849
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2659978855603956,
+                    -0.9543098541960681,
+                    -0.1361536891225467
+                ],
+                [
+                    -0.6895670952757125,
+                    -0.2870678683968793,
+                    0.6648979320520477
+                ],
+                [
+                    -0.6736039979026376,
+                    -0.08297434012001738,
+                    -0.7344201201568706
+                ]
+            ],
+            "translation_vector": [
+                0.5104509857681377,
+                0.011081792277256456,
+                0.6424672054413332
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2659978855603956,
+                    -0.9543098541960681,
+                    -0.1361536891225467
+                ],
+                [
+                    -0.6895670952757125,
+                    -0.2870678683968793,
+                    0.6648979320520477
+                ],
+                [
+                    -0.6736039979026376,
+                    -0.08297434012001738,
+                    -0.7344201201568706
+                ]
+            ],
+            "translation_vector": [
+                0.5104509857681377,
+                0.011081792277256456,
+                0.6424672054413332
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660151853197095,
+                    -0.9543077228610369,
+                    -0.1361348275317662
+                ],
+                [
+                    -0.6895670950875882,
+                    -0.28706786852164157,
+                    0.6648979321932855
+                ],
+                [
+                    -0.673597166377492,
+                    -0.08299884908975862,
+                    -0.7344236165170545
+                ]
+            ],
+            "translation_vector": [
+                0.5104533119122896,
+                0.011081792298388453,
+                0.6424672720436447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604811475615336,
+                    -0.9543036641495479,
+                    -0.1360989244095785
+                ],
+                [
+                    -0.6895670947423863,
+                    -0.2870678687453886,
+                    0.6648979324546929
+                ],
+                [
+                    -0.6735841613957697,
+                    -0.0830455015321585,
+                    -0.7344302704763951
+                ]
+            ],
+            "translation_vector": [
+                0.510456770763342,
+                0.011081792333751778,
+                0.6424685379395255
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604811475615336,
+                    -0.9543036641495479,
+                    -0.1360989244095785
+                ],
+                [
+                    -0.6895670947423863,
+                    -0.2870678687453886,
+                    0.6648979324546929
+                ],
+                [
+                    -0.6735841613957697,
+                    -0.0830455015321585,
+                    -0.7344302704763951
+                ]
+            ],
+            "translation_vector": [
+                0.510456770763342,
+                0.011081792333751778,
+                0.6424685379395255
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660474753592854,
+                    -0.9543037429796886,
+                    -0.13609962156416186
+                ],
+                [
+                    -0.6895670947447352,
+                    -0.28706786874567825,
+                    0.664897932452132
+                ],
+                [
+                    -0.6735844139380432,
+                    -0.08304459566264145,
+                    -0.7344301412870883
+                ]
+            ],
+            "translation_vector": [
+                0.5104570308265785,
+                0.011081792334707028,
+                0.6424681777417236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660474753592854,
+                    -0.9543037429796886,
+                    -0.13609962156416186
+                ],
+                [
+                    -0.6895670947447352,
+                    -0.28706786874567825,
+                    0.664897932452132
+                ],
+                [
+                    -0.6735844139380432,
+                    -0.08304459566264145,
+                    -0.7344301412870883
+                ]
+            ],
+            "translation_vector": [
+                0.5104570308265785,
+                0.011081792334707028,
+                0.6424681777417236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266046320881776,
+                    -0.9543038853140108,
+                    -0.13610088030521705
+                ],
+                [
+                    -0.689567094761434,
+                    -0.2870678687329426,
+                    0.6648979324403121
+                ],
+                [
+                    -0.6735848699069388,
+                    -0.08304296006110257,
+                    -0.7344299080353027
+                ]
+            ],
+            "translation_vector": [
+                0.5104565641581794,
+                0.011081792331734055,
+                0.6424684876180926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660115974998001,
+                    -0.9543081649347086,
+                    -0.13613873928663628
+                ],
+                [
+                    -0.6895670951256831,
+                    -0.2870678684967476,
+                    0.6648979321645256
+                ],
+                [
+                    -0.6735985832196598,
+                    -0.08299376612544068,
+                    -0.7344228914384301
+                ]
+            ],
+            "translation_vector": [
+                0.510452898696911,
+                0.011081792294353089,
+                0.6424671714215294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660223609368886,
+                    -0.9543068386324738,
+                    -0.13612700401044042
+                ],
+                [
+                    -0.689567095011399,
+                    -0.28706786857142913,
+                    0.6648979322508061
+                ],
+                [
+                    -0.6735943326358271,
+                    -0.08300901501133041,
+                    -0.7344250666117984
+                ]
+            ],
+            "translation_vector": [
+                0.5104541383414392,
+                0.011081792306459197,
+                0.6424675495884233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660241548364668,
+                    -0.9543066175584122,
+                    -0.13612504812769544
+                ],
+                [
+                    -0.6895670949923518,
+                    -0.2870678685838761,
+                    0.6648979322651863
+                ],
+                [
+                    -0.6735936241884671,
+                    -0.08301155649025159,
+                    -0.7344254291224626
+                ]
+            ],
+            "translation_vector": [
+                0.5104543449483915,
+                0.011081792308476888,
+                0.6424675236085621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660241548364668,
+                    -0.9543066175584122,
+                    -0.13612504812769544
+                ],
+                [
+                    -0.6895670949923518,
+                    -0.2870678685838761,
+                    0.6648979322651863
+                ],
+                [
+                    -0.6735936241884671,
+                    -0.08301155649025159,
+                    -0.7344254291224626
+                ]
+            ],
+            "translation_vector": [
+                0.5104543449483915,
+                0.011081792308476888,
+                0.6424675236085621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660301759274735,
+                    -0.9543058754896011,
+                    -0.13611848332252552
+                ],
+                [
+                    -0.6895670949328612,
+                    -0.28706786862092654,
+                    0.6648979323108878
+                ],
+                [
+                    -0.6735912462924779,
+                    -0.0830200867950977,
+                    -0.7344266458310744
+                ]
+            ],
+            "translation_vector": [
+                0.5104547047056858,
+                0.0110817923135747,
+                0.6424680347499558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424682116774134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424680267796637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424680267796637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266046320881776,
+                    -0.9543038853140108,
+                    -0.13610088030521705
+                ],
+                [
+                    -0.689567094761434,
+                    -0.2870678687329426,
+                    0.6648979324403121
+                ],
+                [
+                    -0.6735848699069388,
+                    -0.08304296006110257,
+                    -0.7344299080353027
+                ]
+            ],
+            "translation_vector": [
+                0.5104565641581794,
+                0.011081792331734055,
+                0.6424684876180926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424680527540227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424680527540227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.6424684129510404
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679001661322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266063620149822,
+                    -0.9543017522166599,
+                    -0.13608201846307819
+                ],
+                [
+                    -0.6895670945733073,
+                    -0.2870678688576892,
+                    0.6648979325815602
+                ],
+                [
+                    -0.6735780371378658,
+                    -0.08306746887752621,
+                    -0.7344334030392289
+                ]
+            ],
+            "translation_vector": [
+                0.5104588902674407,
+                0.01108179235286657,
+                0.6424685543636699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266063620149822,
+                    -0.9543017522166599,
+                    -0.13608201846307819
+                ],
+                [
+                    -0.6895670945733073,
+                    -0.2870678688576892,
+                    0.6648979325815602
+                ],
+                [
+                    -0.6735780371378658,
+                    -0.08306746887752621,
+                    -0.7344334030392289
+                ]
+            ],
+            "translation_vector": [
+                0.5104588902674407,
+                0.01108179235286657,
+                0.6424685543636699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602594873415786,
+                    -0.9543063964775818,
+                    -0.1361230922439848
+                ],
+                [
+                    -0.6895670949733043,
+                    -0.28706786859632255,
+                    0.6648979322795665
+                ],
+                [
+                    -0.6735929157363297,
+                    -0.08301409796858382,
+                    -0.7344257916279172
+                ]
+            ],
+            "translation_vector": [
+                0.5104545515552099,
+                0.011081792310494581,
+                0.6424675739231962
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26601992762822824,
+                    -0.9543071384928605,
+                    -0.13612965704151953
+                ],
+                [
+                    -0.6895670950327952,
+                    -0.28706786855927174,
+                    0.6648979322338651
+                ],
+                [
+                    -0.6735952935945335,
+                    -0.0830055676590801,
+                    -0.7344245748781079
+                ]
+            ],
+            "translation_vector": [
+                0.510454191796531,
+                0.011081792305396758,
+                0.6424670627858372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26601992762822824,
+                    -0.9543071384928605,
+                    -0.13612965704151953
+                ],
+                [
+                    -0.6895670950327952,
+                    -0.28706786855927174,
+                    0.6648979322338651
+                ],
+                [
+                    -0.6735952935945335,
+                    -0.0830055676590801,
+                    -0.7344245748781079
+                ]
+            ],
+            "translation_vector": [
+                0.510454191796531,
+                0.011081792305396758,
+                0.6424670627858372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424683626318083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660336393904426,
+                    -0.9543054485958322,
+                    -0.1361147071149335
+                ],
+                [
+                    -0.6895670948827646,
+                    -0.287067868659134,
+                    0.6648979323463466
+                ],
+                [
+                    -0.6735898784628681,
+                    -0.08302499360921586,
+                    -0.7344273456704681
+                ]
+            ],
+            "translation_vector": [
+                0.5104561047120705,
+                0.011081792322493586,
+                0.6424671051110212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660336393904426,
+                    -0.9543054485958322,
+                    -0.1361147071149335
+                ],
+                [
+                    -0.6895670948827646,
+                    -0.287067868659134,
+                    0.6648979323463466
+                ],
+                [
+                    -0.6735898784628681,
+                    -0.08302499360921586,
+                    -0.7344273456704681
+                ]
+            ],
+            "translation_vector": [
+                0.5104561047120705,
+                0.011081792322493586,
+                0.6424671051110212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603069101275073,
+                    -0.9543058120020497,
+                    -0.1361179217384254
+                ],
+                [
+                    -0.6895670949185109,
+                    -0.2870678686339518,
+                    0.6648979323201465
+                ],
+                [
+                    -0.6735910428775942,
+                    -0.0830208165285666,
+                    -0.7344267499063514
+                ]
+            ],
+            "translation_vector": [
+                0.5104554314373259,
+                0.011081792317502918,
+                0.6424673646741161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603069101275073,
+                    -0.9543058120020497,
+                    -0.1361179217384254
+                ],
+                [
+                    -0.6895670949185109,
+                    -0.2870678686339518,
+                    0.6648979323201465
+                ],
+                [
+                    -0.6735910428775942,
+                    -0.0830208165285666,
+                    -0.7344267499063514
+                ]
+            ],
+            "translation_vector": [
+                0.5104554314373259,
+                0.011081792317502918,
+                0.6424673646741161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424672640424889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660187731320723,
+                    -0.9543072807602923,
+                    -0.1361309157730343
+                ],
+                [
+                    -0.689567095049494,
+                    -0.28706786854653554,
+                    0.6648979322220459
+                ],
+                [
+                    -0.6735957495162145,
+                    -0.08300393205172191,
+                    -0.7344243415748444
+                ]
+            ],
+            "translation_vector": [
+                0.5104537251271324,
+                0.011081792302423812,
+                0.642467372667961
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424676242383807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424676242383807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424680267796637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266046320881776,
+                    -0.9543038853140108,
+                    -0.13610088030521705
+                ],
+                [
+                    -0.689567094761434,
+                    -0.2870678687329426,
+                    0.6648979324403121
+                ],
+                [
+                    -0.6735848699069388,
+                    -0.08304296006110257,
+                    -0.7344299080353027
+                ]
+            ],
+            "translation_vector": [
+                0.5104565641581794,
+                0.011081792331734055,
+                0.6424684876180926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266046320881776,
+                    -0.9543038853140108,
+                    -0.13610088030521705
+                ],
+                [
+                    -0.689567094761434,
+                    -0.2870678687329426,
+                    0.6648979324403121
+                ],
+                [
+                    -0.6735848699069388,
+                    -0.08304296006110257,
+                    -0.7344299080353027
+                ]
+            ],
+            "translation_vector": [
+                0.5104565641581794,
+                0.011081792331734055,
+                0.6424684876180926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602594873415786,
+                    -0.9543063964775818,
+                    -0.1361230922439848
+                ],
+                [
+                    -0.6895670949733043,
+                    -0.28706786859632255,
+                    0.6648979322795665
+                ],
+                [
+                    -0.6735929157363297,
+                    -0.08301409796858382,
+                    -0.7344257916279172
+                ]
+            ],
+            "translation_vector": [
+                0.5104545515552099,
+                0.011081792310494581,
+                0.6424674976292508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424677005323258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424677005323258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680087724916
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660505480245994,
+                    -0.9543033641449041,
+                    -0.13609627135792496
+                ],
+                [
+                    -0.6895670947209903,
+                    -0.2870678687575451,
+                    0.6648979324716345
+                ],
+                [
+                    -0.6735832003352402,
+                    -0.08304894887185761,
+                    -0.734430762099067
+                ]
+            ],
+            "translation_vector": [
+                0.5104567173047443,
+                0.011081792334814234,
+                0.6424689484592601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660505480245994,
+                    -0.9543033641449041,
+                    -0.13609627135792496
+                ],
+                [
+                    -0.6895670947209903,
+                    -0.2870678687575451,
+                    0.6648979324716345
+                ],
+                [
+                    -0.6735832003352402,
+                    -0.08304894887185761,
+                    -0.734430762099067
+                ]
+            ],
+            "translation_vector": [
+                0.5104567173047443,
+                0.011081792334814234,
+                0.6424689484592601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604273312736093,
+                    -0.9543043276226314,
+                    -0.13610479209359827
+                ],
+                [
+                    -0.6895670947995288,
+                    -0.28706786870805057,
+                    0.6648979324115509
+                ],
+                [
+                    -0.6735862869149447,
+                    -0.08303787711722388,
+                    -0.7344291831374916
+                ]
+            ],
+            "translation_vector": [
+                0.5104561509474522,
+                0.011081792327698632,
+                0.6424683869768772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604273312736093,
+                    -0.9543043276226314,
+                    -0.13610479209359827
+                ],
+                [
+                    -0.6895670947995288,
+                    -0.28706786870805057,
+                    0.6648979324115509
+                ],
+                [
+                    -0.6735862869149447,
+                    -0.08303787711722388,
+                    -0.7344291831374916
+                ]
+            ],
+            "translation_vector": [
+                0.5104561509474522,
+                0.011081792327698632,
+                0.6424683869768772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660320941368151,
+                    -0.9543056390663948,
+                    -0.13611639186836139
+                ],
+                [
+                    -0.6895670949258148,
+                    -0.28706786862005784,
+                    0.6648979323185701
+                ],
+                [
+                    -0.6735904887131008,
+                    -0.08302280440949772,
+                    -0.7344270334507228
+                ]
+            ],
+            "translation_vector": [
+                0.5104539245153578,
+                0.011081792310708926,
+                0.6424691153359974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424673403364342
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424673403364342
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660350425120815,
+                    -0.9543052756514768,
+                    -0.1361131772436288
+                ],
+                [
+                    -0.689567094890069,
+                    -0.2870678686452403,
+                    0.6648979323447701
+                ],
+                [
+                    -0.6735893242922332,
+                    -0.08302698148938985,
+                    -0.7344276292081439
+                ]
+            ],
+            "translation_vector": [
+                0.5104545977915546,
+                0.011081792315699576,
+                0.6424688557751939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678075098691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678075098691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660308153308273,
+                    -0.9543057966827255,
+                    -0.13611778617126002
+                ],
+                [
+                    -0.6895670949305124,
+                    -0.287067868620637,
+                    0.6648979323134483
+                ],
+                [
+                    -0.6735909937666255,
+                    -0.08302099266663943,
+                    -0.7344267750382857
+                ]
+            ],
+            "translation_vector": [
+                0.510454444642585,
+                0.01108179231261943,
+                0.64246839494555
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660308153308273,
+                    -0.9543057966827255,
+                    -0.13611778617126002
+                ],
+                [
+                    -0.6895670949305124,
+                    -0.287067868620637,
+                    0.6648979323134483
+                ],
+                [
+                    -0.6735909937666255,
+                    -0.08302099266663943,
+                    -0.7344267750382857
+                ]
+            ],
+            "translation_vector": [
+                0.510454444642585,
+                0.01108179231261943,
+                0.64246839494555
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424685718733997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424685718733997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424685718733997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424684372972098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424684372972098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424684372972098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424684372972098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424681597252357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660690017127017,
+                    -0.9543010885071536,
+                    -0.13607615074534482
+                ],
+                [
+                    -0.6895670945161644,
+                    -0.2870678688950251,
+                    0.6648979326247036
+                ],
+                [
+                    -0.673575911451815,
+                    -0.08307509327188314,
+                    -0.7344344901961823
+                ]
+            ],
+            "translation_vector": [
+                0.510459510078649,
+                0.0110817923589198,
+                0.6424687053455377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660374757991779,
+                    -0.9543049757137344,
+                    -0.13611052420151654
+                ],
+                [
+                    -0.689567094868673,
+                    -0.2870678686573972,
+                    0.6648979323617112
+                ],
+                [
+                    -0.6735883632789256,
+                    -0.08303042883491027,
+                    -0.7344281208823027
+                ]
+            ],
+            "translation_vector": [
+                0.5104545443336318,
+                0.011081792316762009,
+                0.642469266288856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660374757991779,
+                    -0.9543049757137344,
+                    -0.13611052420151654
+                ],
+                [
+                    -0.689567094868673,
+                    -0.2870678686573972,
+                    0.6648979323617112
+                ],
+                [
+                    -0.6735883632789256,
+                    -0.08303042883491027,
+                    -0.7344281208823027
+                ]
+            ],
+            "translation_vector": [
+                0.5104545443336318,
+                0.011081792316762009,
+                0.642469266288856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660272275437949,
+                    -0.9543062388743409,
+                    -0.13612169794295337
+                ],
+                [
+                    -0.6895670949686072,
+                    -0.2870678685957438,
+                    0.6648979322846877
+                ],
+                [
+                    -0.673592410692044,
+                    -0.08301590971258069,
+                    -0.7344260500504286
+                ]
+            ],
+            "translation_vector": [
+                0.5104540314295413,
+                0.011081792308584035,
+                0.6424683706077918
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660272275437949,
+                    -0.9543062388743409,
+                    -0.13612169794295337
+                ],
+                [
+                    -0.6895670949686072,
+                    -0.2870678685957438,
+                    0.6648979322846877
+                ],
+                [
+                    -0.673592410692044,
+                    -0.08301590971258069,
+                    -0.7344260500504286
+                ]
+            ],
+            "translation_vector": [
+                0.5104540314295413,
+                0.011081792308584035,
+                0.6424683706077918
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604696027907704,
+                    -0.9543038064854233,
+                    -0.13610018315085495
+                ],
+                [
+                    -0.6895670947590854,
+                    -0.28706786873265305,
+                    0.6648979324428733
+                ],
+                [
+                    -0.6735846173657616,
+                    -0.08304386593075505,
+                    -0.7344300372258047
+                ]
+            ],
+            "translation_vector": [
+                0.5104563040946487,
+                0.011081792330778809,
+                0.6424688478154517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424677508480604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424677508480604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602530932897994,
+                    -0.9543064752779128,
+                    -0.13612378939431666
+                ],
+                [
+                    -0.6895670949756532,
+                    -0.28706786859661204,
+                    0.6648979322770056
+                ],
+                [
+                    -0.6735931682575622,
+                    -0.08301319209647293,
+                    -0.7344256624156694
+                ]
+            ],
+            "translation_vector": [
+                0.5104548116175314,
+                0.01108179231144982,
+                0.6424672137275006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602594873415786,
+                    -0.9543063964775818,
+                    -0.1361230922439848
+                ],
+                [
+                    -0.6895670949733043,
+                    -0.28706786859632255,
+                    0.6648979322795665
+                ],
+                [
+                    -0.6735929157363297,
+                    -0.08301409796858382,
+                    -0.7344257916279172
+                ]
+            ],
+            "translation_vector": [
+                0.5104545515552099,
+                0.011081792310494581,
+                0.6424675739231962
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424675982601699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424678011643452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424674393317382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424674393317382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.642467749210675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424679504857184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424679504857184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604157864664196,
+                    -0.954304469945439,
+                    -0.13610605083301083
+                ],
+                [
+                    -0.6895670948162279,
+                    -0.287067868695315,
+                    0.6648979323997313
+                ],
+                [
+                    -0.6735867428757124,
+                    -0.08303624151468365,
+                    -0.7344289498768448
+                ]
+            ],
+            "translation_vector": [
+                0.5104556842785002,
+                0.011081792324725654,
+                0.6424686968538658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660176186351349,
+                    -0.9543074230249207,
+                    -0.13613217450414933
+                ],
+                [
+                    -0.6895670950661926,
+                    -0.28706786853379934,
+                    0.6648979322102263
+                ],
+                [
+                    -0.6735962054359168,
+                    -0.08300229644411951,
+                    -0.7344241082694235
+                ]
+            ],
+            "translation_vector": [
+                0.5104532584573535,
+                0.011081792299450863,
+                0.6424676062560503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660176186351349,
+                    -0.9543074230249207,
+                    -0.13613217450414933
+                ],
+                [
+                    -0.6895670950661926,
+                    -0.28706786853379934,
+                    0.6648979322102263
+                ],
+                [
+                    -0.6735962054359168,
+                    -0.08300229644411951,
+                    -0.7344241082694235
+                ]
+            ],
+            "translation_vector": [
+                0.5104532584573535,
+                0.011081792299450863,
+                0.6424676062560503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660080096723443,
+                    -0.9543086069813064,
+                    -0.1361426510376439
+                ],
+                [
+                    -0.6895670951637777,
+                    -0.2870678684718532,
+                    0.6648979321357655
+                ],
+                [
+                    -0.6736000000427175,
+                    -0.08298868315876852,
+                    -0.7344221663389702
+                ]
+            ],
+            "translation_vector": [
+                0.5104524854809964,
+                0.011081792290317725,
+                0.6424669945076696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660194125397004,
+                    -0.9543072019687514,
+                    -0.13613021862395638
+                ],
+                [
+                    -0.6895670950471451,
+                    -0.28706786854624605,
+                    0.6648979322246064
+                ],
+                [
+                    -0.6735954970011865,
+                    -0.08300483792459702,
+                    -0.7344244707938569
+                ]
+            ],
+            "translation_vector": [
+                0.51045346506466,
+                0.011081792301468557,
+                0.6424677328626249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660194125397004,
+                    -0.9543072019687514,
+                    -0.13613021862395638
+                ],
+                [
+                    -0.6895670950471451,
+                    -0.28706786854624605,
+                    0.6648979322246064
+                ],
+                [
+                    -0.6735954970011865,
+                    -0.08300483792459702,
+                    -0.7344244707938569
+                ]
+            ],
+            "translation_vector": [
+                0.51045346506466,
+                0.011081792301468557,
+                0.6424677328626249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424681613603822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424681613603822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424682116774134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681094071041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681094071041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681094071041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681094071041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681094071041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681094071041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679001661322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679001661322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.6424684129510404
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.6424682603631497
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26607733156075375,
+                    -0.9543000610595689,
+                    -0.13606706835679633
+                ],
+                [
+                    -0.6895670944232746,
+                    -0.2870678689575401,
+                    0.6648979326940492
+                ],
+                [
+                    -0.6735726211167975,
+                    -0.08308689471800526,
+                    -0.7344361728618543
+                ]
+            ],
+            "translation_vector": [
+                0.5104608031583556,
+                0.011081792369963797,
+                0.6424687493794962
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660631050744896,
+                    -0.9543018157398848,
+                    -0.1360825800522657
+                ],
+                [
+                    -0.6895670945876575,
+                    -0.28706786884466456,
+                    0.6648979325723009
+                ],
+                [
+                    -0.6735782405779296,
+                    -0.08306673914716181,
+                    -0.7344332989914057
+                ]
+            ],
+            "translation_vector": [
+                0.5104581635358573,
+                0.011081792348938328,
+                0.6424693007299215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660631050744896,
+                    -0.9543018157398848,
+                    -0.1360825800522657
+                ],
+                [
+                    -0.6895670945876575,
+                    -0.28706786884466456,
+                    0.6648979325723009
+                ],
+                [
+                    -0.6735782405779296,
+                    -0.08306673914716181,
+                    -0.7344332989914057
+                ]
+            ],
+            "translation_vector": [
+                0.5104581635358573,
+                0.011081792348938328,
+                0.6424693007299215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660558053124855,
+                    -0.9543027159092544,
+                    -0.13609053922939252
+                ],
+                [
+                    -0.6895670946518463,
+                    -0.2870678688081967,
+                    0.6648979325214752
+                ],
+                [
+                    -0.6735811238692321,
+                    -0.08305639714159253,
+                    -0.7344318242430141
+                ]
+            ],
+            "translation_vector": [
+                0.5104583239137535,
+                0.011081792345750891,
+                0.6424681454510769
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26612588893691436,
+                    -0.9542940687400738,
+                    -0.13601412281470462
+                ],
+                [
+                    -0.6895670939209853,
+                    -0.28706786928021794,
+                    0.6648979330756591
+                ],
+                [
+                    -0.6735534382800713,
+                    -0.08315569009052898,
+                    -0.7344459796245489
+                ]
+            ],
+            "translation_vector": [
+                0.5104653945929021,
+                0.011081792419560178,
+                0.6424710624876374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26612588893691436,
+                    -0.9542940687400738,
+                    -0.13601412281470462
+                ],
+                [
+                    -0.6895670939209853,
+                    -0.28706786928021794,
+                    0.6648979330756591
+                ],
+                [
+                    -0.6735534382800713,
+                    -0.08315569009052898,
+                    -0.7344459796245489
+                ]
+            ],
+            "translation_vector": [
+                0.5104653945929021,
+                0.011081792419560178,
+                0.6424710624876374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660577234930013,
+                    -0.954302479382646,
+                    -0.1360884477604819
+                ],
+                [
+                    -0.6895670946448003,
+                    -0.2870678688073279,
+                    0.664897932529158
+                ],
+                [
+                    -0.6735803662168697,
+                    -0.0830591147469948,
+                    -0.7344322117830854
+                ]
+            ],
+            "translation_vector": [
+                0.5104575437233273,
+                0.011081792342885135,
+                0.6424693023413702
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660732287993049,
+                    -0.9543005671363922,
+                    -0.13607154176929723
+                ],
+                [
+                    -0.6895670944757202,
+                    -0.2870678689196254,
+                    0.6648979326560267
+                ],
+                [
+                    -0.6735742417377812,
+                    -0.0830810820650859,
+                    -0.734435344104754
+                ]
+            ],
+            "translation_vector": [
+                0.5104596632215457,
+                0.011081792362000022,
+                0.6424693187913058
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660505480245994,
+                    -0.9543033641449041,
+                    -0.13609627135792496
+                ],
+                [
+                    -0.6895670947209903,
+                    -0.2870678687575451,
+                    0.6648979324716345
+                ],
+                [
+                    -0.6735832003352402,
+                    -0.08304894887185761,
+                    -0.734430762099067
+                ]
+            ],
+            "translation_vector": [
+                0.5104567173047443,
+                0.011081792334814234,
+                0.6424689484592601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660505480245994,
+                    -0.9543033641449041,
+                    -0.13609627135792496
+                ],
+                [
+                    -0.6895670947209903,
+                    -0.2870678687575451,
+                    0.6648979324716345
+                ],
+                [
+                    -0.6735832003352402,
+                    -0.08304894887185761,
+                    -0.734430762099067
+                ]
+            ],
+            "translation_vector": [
+                0.5104567173047443,
+                0.011081792334814234,
+                0.6424689484592601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.642468344629423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660128763201968,
+                    -0.954308007370067,
+                    -0.13613734499111066
+                ],
+                [
+                    -0.6895670951209857,
+                    -0.2870678684961689,
+                    0.6648979321696468
+                ],
+                [
+                    -0.6735980782026195,
+                    -0.08299557787279516,
+                    -0.7344231498906469
+                ]
+            ],
+            "translation_vector": [
+                0.5104523785720065,
+                0.01108179229244255,
+                0.6424678918090417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660128763201968,
+                    -0.954308007370067,
+                    -0.13613734499111066
+                ],
+                [
+                    -0.6895670951209857,
+                    -0.2870678684961689,
+                    0.6648979321696468
+                ],
+                [
+                    -0.6735980782026195,
+                    -0.08299557787279516,
+                    -0.7344231498906469
+                ]
+            ],
+            "translation_vector": [
+                0.5104523785720065,
+                0.01108179229244255,
+                0.6424678918090417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660236397492155,
+                    -0.9543066810388824,
+                    -0.13612560971078524
+                ],
+                [
+                    -0.6895670950067017,
+                    -0.2870678685708503,
+                    0.6648979322559273
+                ],
+                [
+                    -0.6735938275983526,
+                    -0.08301082675616686,
+                    -0.734425325041736
+                ]
+            ],
+            "translation_vector": [
+                0.5104536182159616,
+                0.011081792304548668,
+                0.6424682699782893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.6424684209233684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.6424684209233684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660254336474485,
+                    -0.954306459959996,
+                    -0.13612365382735198
+                ],
+                [
+                    -0.6895670949876547,
+                    -0.2870678685832971,
+                    0.6648979322703077
+                ],
+                [
+                    -0.673593119147587,
+                    -0.0830133682346682,
+                    -0.7344256875486869
+                ]
+            ],
+            "translation_vector": [
+                0.5104538248228184,
+                0.01108179230656635,
+                0.6424682439988201
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660254336474485,
+                    -0.954306459959996,
+                    -0.13612365382735198
+                ],
+                [
+                    -0.6895670949876547,
+                    -0.2870678685832971,
+                    0.6648979322703077
+                ],
+                [
+                    -0.673593119147587,
+                    -0.0830133682346682,
+                    -0.7344256875486869
+                ]
+            ],
+            "translation_vector": [
+                0.5104538248228184,
+                0.01108179230656635,
+                0.6424682439988201
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660273518621236,
+                    -0.9543062235559224,
+                    -0.1361215623759173
+                ],
+                [
+                    -0.6895670949806086,
+                    -0.28706786858242894,
+                    0.66489793227799
+                ],
+                [
+                    -0.6735923615817149,
+                    -0.08301608585073227,
+                    -0.7344260751830599
+                ]
+            ],
+            "translation_vector": [
+                0.5104530446318943,
+                0.011081792303700568,
+                0.6424693245823561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602786694825376,
+                    -0.9543061600714303,
+                    -0.13612100079225398
+                ],
+                [
+                    -0.6895670949662585,
+                    -0.2870678685954546,
+                    0.6648979322872486
+                ],
+                [
+                    -0.6735921581689905,
+                    -0.08301681558446687,
+                    -0.7344261792606914
+                ]
+            ],
+            "translation_vector": [
+                0.5104537713661941,
+                0.011081792307628782,
+                0.6424687308027468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.6424685215561724
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660308153308273,
+                    -0.9543057966827255,
+                    -0.13611778617126002
+                ],
+                [
+                    -0.6895670949305124,
+                    -0.287067868620637,
+                    0.6648979323134483
+                ],
+                [
+                    -0.6735909937666255,
+                    -0.08302099266663943,
+                    -0.7344267750382857
+                ]
+            ],
+            "translation_vector": [
+                0.510454444642585,
+                0.01108179231261943,
+                0.64246839494555
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660308153308273,
+                    -0.9543057966827255,
+                    -0.13611778617126002
+                ],
+                [
+                    -0.6895670949305124,
+                    -0.287067868620637,
+                    0.6648979323134483
+                ],
+                [
+                    -0.6735909937666255,
+                    -0.08302099266663943,
+                    -0.7344267750382857
+                ]
+            ],
+            "translation_vector": [
+                0.510454444642585,
+                0.01108179231261943,
+                0.64246839494555
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.642468419285509
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424685718733997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.642468419285509
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_left_fisheye_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0ee56c43c558efacb6d0023f4fdb1b86257cde
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.745,
+        "fv": 236.7855,
+        "pu": 482.4945,
+        "pv": 386.446,
+        "distortion_model": "equidistant",
+        "k1": 0.102424,
+        "k2": -0.0509376,
+        "k3": 0.0156047,
+        "k4": -0.00212971
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5ad0de127ab231d6abd9fb4a19b27eef770b5
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.7162115926458754,
+                0.3526354463833131,
+                -0.6022368275966693
+            ],
+            [
+                0.07905351886720882,
+                -0.898387816949699,
+                -0.4320299428408483
+            ],
+            [
+                -0.6933913005759235,
+                0.2618159130198092,
+                -0.6713128421051051
+            ]
+        ],
+        "translation_vector": [
+            -0.07464191374027791,
+            -0.03977433061946449,
+            -0.07599999426711856
+        ]
+    }
+}
diff --git a/parameters/1957/1237123/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237123/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f77d181ad5a4dd14678e04cb8eebd7cffb37555
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16018 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355900593282066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355895687521592
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355895687521592
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355895687521592
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355899307210585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355899307210585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103671853815222,
+                    -0.9632477885123067,
+                    -0.13702456937817473
+                ],
+                [
+                    -0.6933893992215375,
+                    0.2618074880663093,
+                    -0.6713180916969287
+                ],
+                [
+                    0.6825197255276353,
+                    -0.06008774516123033,
+                    -0.7283929483095792
+                ]
+            ],
+            "translation_vector": [
+                0.4870609235837047,
+                -0.07599896230970614,
+                0.6355888807850104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103671853815222,
+                    -0.9632477885123067,
+                    -0.13702456937817473
+                ],
+                [
+                    -0.6933893992215375,
+                    0.2618074880663093,
+                    -0.6713180916969287
+                ],
+                [
+                    0.6825197255276353,
+                    -0.06008774516123033,
+                    -0.7283929483095792
+                ]
+            ],
+            "translation_vector": [
+                0.4870609235837047,
+                -0.07599896230970614,
+                0.6355888807850104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310060702364707,
+                    -0.9632504856819613,
+                    -0.1370572776154889
+                ],
+                [
+                    -0.6933893988800898,
+                    0.2618074883163476,
+                    -0.6713180919520895
+                ],
+                [
+                    0.6825300997279246,
+                    -0.060044490962552564,
+                    -0.7283867942724095
+                ]
+            ],
+            "translation_vector": [
+                0.48705512880755913,
+                -0.07599896234988933,
+                0.635591136604754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310160764086132,
+                    -0.9632496053233901,
+                    -0.13704659895489502
+                ],
+                [
+                    -0.6933893990132098,
+                    0.26180748821012917,
+                    -0.6713180918560168
+                ],
+                [
+                    0.6825267128668808,
+                    -0.060058612716555014,
+                    -0.7283888036355951
+                ]
+            ],
+            "translation_vector": [
+                0.48705870294252057,
+                -0.075998962328804,
+                0.6355887510164046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310160764086132,
+                    -0.9632496053233901,
+                    -0.13704659895489502
+                ],
+                [
+                    -0.6933893990132098,
+                    0.26180748821012917,
+                    -0.6713180918560168
+                ],
+                [
+                    0.6825267128668808,
+                    -0.060058612716555014,
+                    -0.7283888036355951
+                ]
+            ],
+            "translation_vector": [
+                0.48705870294252057,
+                -0.075998962328804,
+                0.6355887510164046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099152876659323,
+                    -0.9632517646971479,
+                    -0.13707279615555848
+                ],
+                [
+                    -0.6933893987303118,
+                    0.2618074884211039,
+                    -0.671318092065938
+                ],
+                [
+                    0.6825350213479812,
+                    -0.060023968666398315,
+                    -0.7283838739421999
+                ]
+            ],
+            "translation_vector": [
+                0.4870533294121074,
+                -0.07599896236445548,
+                0.6355912326232341
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310155545112343,
+                    -0.9632496512442043,
+                    -0.13704715594198474
+                ],
+                [
+                    -0.6933893989992471,
+                    0.2618074882236419,
+                    -0.6713180918651689
+                ],
+                [
+                    0.6825268895284128,
+                    -0.06005787615248683,
+                    -0.728388698829631
+                ]
+            ],
+            "translation_vector": [
+                0.4870579709515357,
+                -0.07599896233248737,
+                0.63558943898614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310155545112343,
+                    -0.9632496512442043,
+                    -0.13704715594198474
+                ],
+                [
+                    -0.6933893989992471,
+                    0.2618074882236419,
+                    -0.6713180918651689
+                ],
+                [
+                    0.6825268895284128,
+                    -0.06005787615248683,
+                    -0.728388698829631
+                ]
+            ],
+            "translation_vector": [
+                0.4870579709515357,
+                -0.07599896233248737,
+                0.63558943898614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100840981219606,
+                    -0.9632502798617798,
+                    -0.1370547808076928
+                ],
+                [
+                    -0.6933893989127748,
+                    0.2618074882897404,
+                    -0.6713180919287065
+                ],
+                [
+                    0.6825293078479648,
+                    -0.060047792812239986,
+                    -0.7283872641026593
+                ]
+            ],
+            "translation_vector": [
+                0.4870560857263294,
+                -0.07599896234438519,
+                0.6355905129317915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105008991947487,
+                    -0.9632466111534982,
+                    -0.13701029906362966
+                ],
+                [
+                    -0.6933893993549755,
+                    0.26180748797486786,
+                    -0.6713180915947649
+                ],
+                [
+                    0.6825151989592243,
+                    -0.060106616454364895,
+                    -0.7283956327766243
+                ]
+            ],
+            "translation_vector": [
+                0.4870622445270956,
+                -0.07599896229789137,
+                0.6355892111552809
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105008991947487,
+                    -0.9632466111534982,
+                    -0.13701029906362966
+                ],
+                [
+                    -0.6933893993549755,
+                    0.26180748797486786,
+                    -0.6713180915947649
+                ],
+                [
+                    0.6825151989592243,
+                    -0.060106616454364895,
+                    -0.7283956327766243
+                ]
+            ],
+            "translation_vector": [
+                0.4870622445270956,
+                -0.07599896229789137,
+                0.6355892111552809
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102165539349306,
+                    -0.9632491143764352,
+                    -0.13704064503739152
+                ],
+                [
+                    -0.6933893990577944,
+                    0.2618074881845697,
+                    -0.6713180918199345
+                ],
+                [
+                    0.6825248244668622,
+                    -0.060066486358872885,
+                    -0.7283899238752405
+                ]
+            ],
+            "translation_vector": [
+                0.4870583921922777,
+                -0.07599896232795618,
+                0.6355897409851595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355892907222461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355892907222461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.6355896167168946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.6355896167168946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.635589966696665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.635589966696665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355893670161914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355898827619693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355898827619693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896973612762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104892015613301,
+                    -0.9632467141658224,
+                    -0.13701154748207187
+                ],
+                [
+                    -0.6933893993386324,
+                    0.26180748798817005,
+                    -0.6713180916064571
+                ],
+                [
+                    0.6825155949716428,
+                    -0.060104965535897385,
+                    -0.7283953979388073
+                ]
+            ],
+            "translation_vector": [
+                0.4870617660683696,
+                -0.0759989623006435,
+                0.6355895611308797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104892015613301,
+                    -0.9632467141658224,
+                    -0.13701154748207187
+                ],
+                [
+                    -0.6933893993386324,
+                    0.26180748798817005,
+                    -0.6713180916064571
+                ],
+                [
+                    0.6825155949716428,
+                    -0.060104965535897385,
+                    -0.7283953979388073
+                ]
+            ],
+            "translation_vector": [
+                0.4870617660683696,
+                -0.0759989623006435,
+                0.6355895611308797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.635589935079964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355895447733857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.635589556762473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.635589556762473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355895447733857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355900593282066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355902327389726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310059442477277,
+                    -0.9632504967686121,
+                    -0.13705741204779523
+                ],
+                [
+                    -0.693389398891673,
+                    0.26180748830262524,
+                    -0.6713180919454776
+                ],
+                [
+                    0.6825301423577285,
+                    -0.060044313166978856,
+                    -0.7283867689829667
+                ]
+            ],
+            "translation_vector": [
+                0.48705611433606893,
+                -0.07599896234527471,
+                0.6355902632408928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310059442477277,
+                    -0.9632504967686121,
+                    -0.13705741204779523
+                ],
+                [
+                    -0.693389398891673,
+                    0.26180748830262524,
+                    -0.6713180919454776
+                ],
+                [
+                    0.6825301423577285,
+                    -0.060044313166978856,
+                    -0.7283867689829667
+                ]
+            ],
+            "translation_vector": [
+                0.48705611433606893,
+                -0.07599896234527471,
+                0.6355902632408928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310229511603418,
+                    -0.963249000339013,
+                    -0.13703926219539903
+                ],
+                [
+                    -0.6933893990625538,
+                    0.2618074881849885,
+                    -0.6713180918148551
+                ],
+                [
+                    0.6825243858682537,
+                    -0.060068315076753566,
+                    -0.7283901840490461
+                ]
+            ],
+            "translation_vector": [
+                0.48705788512415543,
+                -0.07599896232981874,
+                0.6355904169578159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101321494379876,
+                    -0.9632498570989502,
+                    -0.13704965275469874
+                ],
+                [
+                    -0.6933893989665622,
+                    0.2618074882502485,
+                    -0.6713180918885524
+                ],
+                [
+                    0.6825276814328638,
+                    -0.060054574304954395,
+                    -0.7283882290255183
+                ]
+            ],
+            "translation_vector": [
+                0.48705701403455304,
+                -0.07599896233799154,
+                0.6355901389519176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101321494379876,
+                    -0.9632498570989502,
+                    -0.13704965275469874
+                ],
+                [
+                    -0.6933893989665622,
+                    0.2618074882502485,
+                    -0.6713180918885524
+                ],
+                [
+                    0.6825276814328638,
+                    -0.060054574304954395,
+                    -0.7283882290255183
+                ]
+            ],
+            "translation_vector": [
+                0.48705701403455304,
+                -0.07599896233799154,
+                0.6355901389519176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23107436693526717,
+                    -0.9632444725824073,
+                    -0.136984389566501
+                ],
+                [
+                    -0.6933893996007511,
+                    0.26180748780487617,
+                    -0.6713180914072039
+                ],
+                [
+                    0.6825069797934497,
+                    -0.06014087934791997,
+                    -0.7284005060160815
+                ]
+            ],
+            "translation_vector": [
+                0.48706491502586857,
+                -0.07599896227515093,
+                0.6355893933884846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106047382921327,
+                    -0.9632456965817638,
+                    -0.13699921697051046
+                ],
+                [
+                    -0.6933893994533484,
+                    0.2618074879098235,
+                    -0.6713180915185241
+                ],
+                [
+                    0.6825116835333623,
+                    -0.06012127153563211,
+                    -0.728397717287331
+                ]
+            ],
+            "translation_vector": [
+                0.48706286208715593,
+                -0.0759989622906495,
+                0.635589903511783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106047382921327,
+                    -0.9632456965817638,
+                    -0.13699921697051046
+                ],
+                [
+                    -0.6933893994533484,
+                    0.2618074879098235,
+                    -0.6713180915185241
+                ],
+                [
+                    0.6825116835333623,
+                    -0.06012127153563211,
+                    -0.728397717287331
+                ]
+            ],
+            "translation_vector": [
+                0.48706286208715593,
+                -0.0759989622906495,
+                0.635589903511783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310591780864801,
+                    -0.9632458107197234,
+                    -0.13700059982680493
+                ],
+                [
+                    -0.693389399448589,
+                    0.2618074879094047,
+                    -0.6713180915236036
+                ],
+                [
+                    0.6825121222032074,
+                    -0.060119442824023456,
+                    -0.728397457189551
+                ]
+            ],
+            "translation_vector": [
+                0.48706336915415854,
+                -0.07599896228878694,
+                0.6355891512357325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310446369996067,
+                    -0.9632470913317822,
+                    -0.13701611859406349
+                ],
+                [
+                    -0.6933893992988075,
+                    0.2618074880141466,
+                    -0.6713180916374611
+                ],
+                [
+                    0.6825170449547465,
+                    -0.0600989206274541,
+                    -0.7283945380668749
+                ]
+            ],
+            "translation_vector": [
+                0.4870615697512409,
+                -0.075998962303354,
+                0.6355892471141982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310446369996067,
+                    -0.9632470913317822,
+                    -0.13701611859406349
+                ],
+                [
+                    -0.6933893992988075,
+                    0.2618074880141466,
+                    -0.6713180916374611
+                ],
+                [
+                    0.6825170449547465,
+                    -0.0600989206274541,
+                    -0.7283945380668749
+                ]
+            ],
+            "translation_vector": [
+                0.4870615697512409,
+                -0.075998962303354,
+                0.6355892471141982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101191917069347,
+                    -0.9632499711102854,
+                    -0.1370510355929795
+                ],
+                [
+                    -0.6933893989618024,
+                    0.2618074882498298,
+                    -0.6713180918936318
+                ],
+                [
+                    0.6825281200129881,
+                    -0.0600527455854472,
+                    -0.7283879688319862
+                ]
+            ],
+            "translation_vector": [
+                0.4870575211021475,
+                -0.07599896233612898,
+                0.6355895392748602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101191917069347,
+                    -0.9632499711102854,
+                    -0.1370510355929795
+                ],
+                [
+                    -0.6933893989618024,
+                    0.2618074882498298,
+                    -0.6713180918936318
+                ],
+                [
+                    0.6825281200129881,
+                    -0.0600527455854472,
+                    -0.7283879688319862
+                ]
+            ],
+            "translation_vector": [
+                0.4870575211021475,
+                -0.07599896233612898,
+                0.6355895392748602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310155545112343,
+                    -0.9632496512442043,
+                    -0.13704715594198474
+                ],
+                [
+                    -0.6933893989992471,
+                    0.2618074882236419,
+                    -0.6713180918651689
+                ],
+                [
+                    0.6825268895284128,
+                    -0.06005787615248683,
+                    -0.728388698829631
+                ]
+            ],
+            "translation_vector": [
+                0.4870579709515357,
+                -0.07599896233248737,
+                0.63558943898614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101191917069347,
+                    -0.9632499711102854,
+                    -0.1370510355929795
+                ],
+                [
+                    -0.6933893989618024,
+                    0.2618074882498298,
+                    -0.6713180918936318
+                ],
+                [
+                    0.6825281200129881,
+                    -0.0600527455854472,
+                    -0.7283879688319862
+                ]
+            ],
+            "translation_vector": [
+                0.4870575211021475,
+                -0.07599896233612898,
+                0.6355894629809149
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101191917069347,
+                    -0.9632499711102854,
+                    -0.1370510355929795
+                ],
+                [
+                    -0.6933893989618024,
+                    0.2618074882498298,
+                    -0.6713180918936318
+                ],
+                [
+                    0.6825281200129881,
+                    -0.0600527455854472,
+                    -0.7283879688319862
+                ]
+            ],
+            "translation_vector": [
+                0.4870575211021475,
+                -0.07599896233612898,
+                0.6355894629809149
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102347305580612,
+                    -0.9632489544102169,
+                    -0.13703870520717354
+                ],
+                [
+                    -0.693389399076517,
+                    0.2618074881714759,
+                    -0.6713180918057032
+                ],
+                [
+                    0.6825242092010662,
+                    -0.06006905164032405,
+                    -0.7283902888489744
+                ]
+            ],
+            "translation_vector": [
+                0.48705861711712695,
+                -0.07599896232613539,
+                0.6355896526967357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101620239672305,
+                    -0.9632495942341004,
+                    -0.1370464645222131
+                ],
+                [
+                    -0.6933893990016271,
+                    0.2618074882238512,
+                    -0.6713180918626291
+                ],
+                [
+                    0.6825266702352071,
+                    -0.06005879051196384,
+                    -0.7283888289230426
+                ]
+            ],
+            "translation_vector": [
+                0.48705771741792164,
+                -0.07599896233341863,
+                0.6355897769721888
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.6355897050035214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.6355897050035214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355894073332491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355894073332491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.6355897693047852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896047248123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896047248123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896047248123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.635589319048206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.635589319048206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.635589319048206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104593275168575,
+                    -0.9632469772327837,
+                    -0.13701473574331108
+                ],
+                [
+                    -0.6933893993035668,
+                    0.2618074880145655,
+                    -0.6713180916323814
+                ],
+                [
+                    0.6825166063125074,
+                    -0.06010074934149382,
+                    -0.7283947981941173
+                ]
+            ],
+            "translation_vector": [
+                0.4870610626840562,
+                -0.07599896230521652,
+                0.6355899230928873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.635589935079964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.635589935079964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.635589520797008
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355896733848986
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355896733848986
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355896090788428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896973612762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896973612762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355895807424445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355895807424445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104229746591629,
+                    -0.9632472973272213,
+                    -0.13701861542679344
+                ],
+                [
+                    -0.6933893992661216,
+                    0.2618074880407515,
+                    -0.6713180916608454
+                ],
+                [
+                    0.682517836958887,
+                    -0.060095618788696285,
+                    -0.7283940683691527
+                ]
+            ],
+            "translation_vector": [
+                0.48706061283360047,
+                -0.07599896230885825,
+                0.6355898707736946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355901312776225
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103450498224015,
+                    -0.9632479833753811,
+                    -0.13702693177209543
+                ],
+                [
+                    -0.6933893991772686,
+                    0.26180748810663684,
+                    -0.6713180917269256
+                ],
+                [
+                    0.682520474869581,
+                    -0.06008462111519449,
+                    -0.7283925038667312
+                ]
+            ],
+            "translation_vector": [
+                0.4870589811393926,
+                -0.07599896231982507,
+                0.6355907592836866
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102476882148684,
+                    -0.9632488403679245,
+                    -0.13703732236448835
+                ],
+                [
+                    -0.6933893990812764,
+                    0.2618074881718949,
+                    -0.6713180918006239
+                ],
+                [
+                    0.6825237705990068,
+                    -0.060070880357900994,
+                    -0.7283905490190971
+                ]
+            ],
+            "translation_vector": [
+                0.48705811004902744,
+                -0.07599896232799795,
+                0.63559048125771
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102476882148684,
+                    -0.9632488403679245,
+                    -0.13703732236448835
+                ],
+                [
+                    -0.6933893990812764,
+                    0.2618074881718949,
+                    -0.6713180918006239
+                ],
+                [
+                    0.6825237705990068,
+                    -0.060070880357900994,
+                    -0.7283905490190971
+                ]
+            ],
+            "translation_vector": [
+                0.48705811004902744,
+                -0.07599896232799795,
+                0.63559048125771
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310095795990402,
+                    -0.9632501769474447,
+                    -0.13705353240319126
+                ],
+                [
+                    -0.6933893989291176,
+                    0.26180748827643685,
+                    -0.6713180919170151
+                ],
+                [
+                    0.6825289119049776,
+                    -0.06004944373681833,
+                    -0.7283874990145747
+                ]
+            ],
+            "translation_vector": [
+                0.48705656418524707,
+                -0.07599896234163314,
+                0.6355901629482346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101802006395158,
+                    -0.9632494342883772,
+                    -0.13704452469491138
+                ],
+                [
+                    -0.6933893990203496,
+                    0.26180748821075744,
+                    -0.671318091848398
+                ],
+                [
+                    0.682526054983933,
+                    -0.06006135579469281,
+                    -0.7283891939122747
+                ]
+            ],
+            "translation_vector": [
+                0.487057942342675,
+                -0.07599896233159785,
+                0.635589688681968
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101802006395158,
+                    -0.9632494342883772,
+                    -0.13704452469491138
+                ],
+                [
+                    -0.6933893990203496,
+                    0.26180748821075744,
+                    -0.671318091848398
+                ],
+                [
+                    0.682526054983933,
+                    -0.06006135579469281,
+                    -0.7283891939122747
+                ]
+            ],
+            "translation_vector": [
+                0.487057942342675,
+                -0.07599896233159785,
+                0.635589688681968
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310429453428123,
+                    -0.9632472402812907,
+                    -0.13701792400192478
+                ],
+                [
+                    -0.6933893992685018,
+                    0.26180748804096127,
+                    -0.671318091658306
+                ],
+                [
+                    0.682517617640296,
+                    -0.06009653314593917,
+                    -0.7283941984354727
+                ]
+            ],
+            "translation_vector": [
+                0.4870603592995041,
+                -0.07599896230978954,
+                0.6355902850561963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104658062741346,
+                    -0.9632469201819829,
+                    -0.1370140443177496
+                ],
+                [
+                    -0.693389399305947,
+                    0.2618074880147752,
+                    -0.6713180916298418
+                ],
+                [
+                    0.6825163869904655,
+                    -0.06010166369843267,
+                    -0.7283949282567546
+                ]
+            ],
+            "translation_vector": [
+                0.4870608091499826,
+                -0.0759989623061478,
+                0.6355902610818709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104658062741346,
+                    -0.9632469201819829,
+                    -0.1370140443177496
+                ],
+                [
+                    -0.693389399305947,
+                    0.2618074880147752,
+                    -0.6713180916298418
+                ],
+                [
+                    0.6825163869904655,
+                    -0.06010166369843267,
+                    -0.7283949282567546
+                ]
+            ],
+            "translation_vector": [
+                0.4870608091499826,
+                -0.0759989623061478,
+                0.6355902610818709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104229746591629,
+                    -0.9632472973272213,
+                    -0.13701861542679344
+                ],
+                [
+                    -0.6933893992661216,
+                    0.2618074880407515,
+                    -0.6713180916608454
+                ],
+                [
+                    0.682517836958887,
+                    -0.060095618788696285,
+                    -0.7283940683691527
+                ]
+            ],
+            "translation_vector": [
+                0.48706061283360047,
+                -0.07599896230885825,
+                0.6355899470676398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105203354202455,
+                    -0.963246439981783,
+                    -0.13700822478419827
+                ],
+                [
+                    -0.6933893993621147,
+                    0.26180748797549636,
+                    -0.6713180915871456
+                ],
+                [
+                    0.6825145409794149,
+                    -0.060109359523976176,
+                    -0.7283960229499312
+                ]
+            ],
+            "translation_vector": [
+                0.4870614839259398,
+                -0.0759989623006852,
+                0.6355902251248752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105203354202455,
+                    -0.963246439981783,
+                    -0.13700822478419827
+                ],
+                [
+                    -0.6933893993621147,
+                    0.26180748797549636,
+                    -0.6713180915871456
+                ],
+                [
+                    0.6825145409794149,
+                    -0.060109359523976176,
+                    -0.7283960229499312
+                ]
+            ],
+            "translation_vector": [
+                0.4870614839259398,
+                -0.0759989623006852,
+                0.6355902251248752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310235990434538,
+                    -0.9632489433190002,
+                    -0.13703857077421794
+                ],
+                [
+                    -0.6933893990649338,
+                    0.2618074881851981,
+                    -0.6713180918123155
+                ],
+                [
+                    0.6825241665680272,
+                    -0.06006922943561253,
+                    -0.7283903141349647
+                ]
+            ],
+            "translation_vector": [
+                0.48705763158961307,
+                -0.07599896233075004,
+                0.6355907549437834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310235990434538,
+                    -0.9632489433190002,
+                    -0.13703857077421794
+                ],
+                [
+                    -0.6933893990649338,
+                    0.2618074881851981,
+                    -0.6713180918123155
+                ],
+                [
+                    0.6825241665680272,
+                    -0.06006922943561253,
+                    -0.7283903141349647
+                ]
+            ],
+            "translation_vector": [
+                0.48705763158961307,
+                -0.07599896233075004,
+                0.6355907549437834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101983772954165,
+                    -0.9632492743358222,
+                    -0.13704258486663726
+                ],
+                [
+                    -0.6933893990390719,
+                    0.2618074881976634,
+                    -0.6713180918341664
+                ],
+                [
+                    0.6825254397278181,
+                    -0.060063921076995985,
+                    -0.7283895588963406
+                ]
+            ],
+            "translation_vector": [
+                0.4870581672674604,
+                -0.07599896232977703,
+                0.6355898292741822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101983772954165,
+                    -0.9632492743358222,
+                    -0.13704258486663726
+                ],
+                [
+                    -0.6933893990390719,
+                    0.2618074881976634,
+                    -0.6713180918341664
+                ],
+                [
+                    0.6825254397278181,
+                    -0.060063921076995985,
+                    -0.7283895588963406
+                ]
+            ],
+            "translation_vector": [
+                0.4870581672674604,
+                -0.07599896232977703,
+                0.635589752980237
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101983772954165,
+                    -0.9632492743358222,
+                    -0.13704258486663726
+                ],
+                [
+                    -0.6933893990390719,
+                    0.2618074881976634,
+                    -0.6713180918341664
+                ],
+                [
+                    0.6825254397278181,
+                    -0.060063921076995985,
+                    -0.7283895588963406
+                ]
+            ],
+            "translation_vector": [
+                0.4870581672674604,
+                -0.07599896232977703,
+                0.635589752980237
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102048561365404,
+                    -0.96324921731998,
+                    -0.13704189344604936
+                ],
+                [
+                    -0.6933893990414518,
+                    0.2618074881978729,
+                    -0.6713180918316266
+                ],
+                [
+                    0.6825252204305468,
+                    -0.06006483543611501,
+                    -0.728389688985413
+                ]
+            ],
+            "translation_vector": [
+                0.48705791373354834,
+                -0.07599896233070831,
+                0.6355900909664719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355895807424445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355895807424445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355900593282066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310302217950897,
+                    -0.9632483604136676,
+                    -0.13703150286592433
+                ],
+                [
+                    -0.6933893991374437,
+                    0.26180748813261395,
+                    -0.6713180917579288
+                ],
+                [
+                    0.682521924762221,
+                    -0.0600785761987865,
+                    -0.7283916438982536
+                ]
+            ],
+            "translation_vector": [
+                0.48705878482383513,
+                -0.07599896232253546,
+                0.6355904452791499
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310308696758659,
+                    -0.9632483033839143,
+                    -0.1370308114433571
+                ],
+                [
+                    -0.6933893991398237,
+                    0.2618074881328236,
+                    -0.671318091755389
+                ],
+                [
+                    0.6825217054550925,
+                    -0.06007949055703827,
+                    -0.7283917739768068
+                ]
+            ],
+            "translation_vector": [
+                0.48705853128933835,
+                -0.07599896232346674,
+                0.6355907069720259
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355902567180902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355902567180902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103814028205988,
+                    -0.9632476633395203,
+                    -0.13702305209694599
+                ],
+                [
+                    -0.6933893992147137,
+                    0.26180748808045023,
+                    -0.6713180916984617
+                ],
+                [
+                    0.6825192442647064,
+                    -0.06008975167164614,
+                    -0.7283932337359913
+                ]
+            ],
+            "translation_vector": [
+                0.48705943098957455,
+                -0.07599896231618336,
+                0.6355906590098528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310429453428123,
+                    -0.9632472402812907,
+                    -0.13701792400192478
+                ],
+                [
+                    -0.6933893992685018,
+                    0.26180748804096127,
+                    -0.671318091658306
+                ],
+                [
+                    0.682517617640296,
+                    -0.06009653314593917,
+                    -0.7283941984354727
+                ]
+            ],
+            "translation_vector": [
+                0.4870603592995041,
+                -0.07599896230978954,
+                0.6355902850561963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104112769805363,
+                    -0.9632474003206967,
+                    -0.13701986384255438
+                ],
+                [
+                    -0.693389399249779,
+                    0.26180748805405424,
+                    -0.671318091672538
+                ],
+                [
+                    0.6825182329579502,
+                    -0.06009396786905328,
+                    -0.7283938335170822
+                ]
+            ],
+            "translation_vector": [
+                0.4870601343743128,
+                -0.07599896231161041,
+                0.6355902970442576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104476298593196,
+                    -0.9632470802350525,
+                    -0.13701598416032296
+                ],
+                [
+                    -0.6933893992872242,
+                    0.2618074880278678,
+                    -0.671318091644074
+                ],
+                [
+                    0.6825170023178011,
+                    -0.060099098422399085,
+                    -0.7283945633486963
+                ]
+            ],
+            "translation_vector": [
+                0.4870605842247274,
+                -0.07599896230796868,
+                0.6355902730687341
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104476298593196,
+                    -0.9632470802350525,
+                    -0.13701598416032296
+                ],
+                [
+                    -0.6933893992872242,
+                    0.2618074880278678,
+                    -0.671318091644074
+                ],
+                [
+                    0.6825170023178011,
+                    -0.060099098422399085,
+                    -0.7283945633486963
+                ]
+            ],
+            "translation_vector": [
+                0.4870605842247274,
+                -0.07599896230796868,
+                0.6355902730687341
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104476298593196,
+                    -0.9632470802350525,
+                    -0.13701598416032296
+                ],
+                [
+                    -0.6933893992872242,
+                    0.2618074880278678,
+                    -0.671318091644074
+                ],
+                [
+                    0.6825170023178011,
+                    -0.060099098422399085,
+                    -0.7283945633486963
+                ]
+            ],
+            "translation_vector": [
+                0.4870605842247274,
+                -0.07599896230796868,
+                0.6355902730687341
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104476298593196,
+                    -0.9632470802350525,
+                    -0.13701598416032296
+                ],
+                [
+                    -0.6933893992872242,
+                    0.2618074880278678,
+                    -0.671318091644074
+                ],
+                [
+                    0.6825170023178011,
+                    -0.060099098422399085,
+                    -0.7283945633486963
+                ]
+            ],
+            "translation_vector": [
+                0.4870605842247274,
+                -0.07599896230796868,
+                0.6355902730687341
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355900593282066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355900593282066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355900473387337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355900473387337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355900473387337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.635589556762473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.635589556762473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903853268633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355904212964382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355904212964382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104476298593196,
+                    -0.9632470802350525,
+                    -0.13701598416032296
+                ],
+                [
+                    -0.6933893992872242,
+                    0.2618074880278678,
+                    -0.671318091644074
+                ],
+                [
+                    0.6825170023178011,
+                    -0.060099098422399085,
+                    -0.7283945633486963
+                ]
+            ],
+            "translation_vector": [
+                0.4870605842247274,
+                -0.07599896230796868,
+                0.6355903493626794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104658062741346,
+                    -0.9632469201819829,
+                    -0.1370140443177496
+                ],
+                [
+                    -0.693389399305947,
+                    0.2618074880147752,
+                    -0.6713180916298418
+                ],
+                [
+                    0.6825163869904655,
+                    -0.06010166369843267,
+                    -0.7283949282567546
+                ]
+            ],
+            "translation_vector": [
+                0.4870608091499826,
+                -0.0759989623061478,
+                0.6355902610818709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104658062741346,
+                    -0.9632469201819829,
+                    -0.1370140443177496
+                ],
+                [
+                    -0.693389399305947,
+                    0.2618074880147752,
+                    -0.6713180916298418
+                ],
+                [
+                    0.6825163869904655,
+                    -0.06010166369843267,
+                    -0.7283949282567546
+                ]
+            ],
+            "translation_vector": [
+                0.4870608091499826,
+                -0.0759989623061478,
+                0.6355902610818709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310071140360031,
+                    -0.9632503938602406,
+                    -0.1370561636441414
+                ],
+                [
+                    -0.6933893989080152,
+                    0.2618074882893215,
+                    -0.6713180919337861
+                ],
+                [
+                    0.6825297464189667,
+                    -0.06004596409193037,
+                    -0.7283870038993916
+                ]
+            ],
+            "translation_vector": [
+                0.48705659279463387,
+                -0.07599896234252265,
+                0.6355898369625511
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310071140360031,
+                    -0.9632503938602406,
+                    -0.1370561636441414
+                ],
+                [
+                    -0.6933893989080152,
+                    0.2618074882893215,
+                    -0.6713180919337861
+                ],
+                [
+                    0.6825297464189667,
+                    -0.06004596409193037,
+                    -0.7283870038993916
+                ]
+            ],
+            "translation_vector": [
+                0.48705659279463387,
+                -0.07599896234252265,
+                0.6355898369625511
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101866794864787,
+                    -0.9632493772749701,
+                    -0.13704383327466993
+                ],
+                [
+                    -0.6933893990227292,
+                    0.2618074882109668,
+                    -0.6713180918458579
+                ],
+                [
+                    0.6825258356883869,
+                    -0.06006227015396368,
+                    -0.7283893240031883
+                ]
+            ],
+            "translation_vector": [
+                0.48705768880875155,
+                -0.0759989623325291,
+                0.6355901792558802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101685028200325,
+                    -0.9632495372231287,
+                    -0.13704577310231816
+                ],
+                [
+                    -0.6933893990040069,
+                    0.2618074882240606,
+                    -0.6713180918600897
+                ],
+                [
+                    0.6825264509413869,
+                    -0.06005970487138653,
+                    -0.7283889590157977
+                ]
+            ],
+            "translation_vector": [
+                0.4870574638839868,
+                -0.07599896233434995,
+                0.6355901149579967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101685028200325,
+                    -0.9632495372231287,
+                    -0.13704577310231816
+                ],
+                [
+                    -0.6933893990040069,
+                    0.2618074882240606,
+                    -0.6713180918600897
+                ],
+                [
+                    0.6825264509413869,
+                    -0.06005970487138653,
+                    -0.7283889590157977
+                ]
+            ],
+            "translation_vector": [
+                0.4870574638839868,
+                -0.07599896233434995,
+                0.6355901149579967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310229511603418,
+                    -0.963249000339013,
+                    -0.13703926219539903
+                ],
+                [
+                    -0.6933893990625538,
+                    0.2618074881849885,
+                    -0.6713180918148551
+                ],
+                [
+                    0.6825243858682537,
+                    -0.060068315076753566,
+                    -0.7283901840490461
+                ]
+            ],
+            "translation_vector": [
+                0.48705788512415543,
+                -0.07599896232981874,
+                0.6355904169578159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102905202022042,
+                    -0.9632484633779334,
+                    -0.13703275127753028
+                ],
+                [
+                    -0.6933893991211012,
+                    0.26180748814591703,
+                    -0.6713180917696209
+                ],
+                [
+                    0.6825223207405873,
+                    -0.06007692527732084,
+                    -0.7283914090240952
+                ]
+            ],
+            "translation_vector": [
+                0.48705830636435915,
+                -0.07599896232528759,
+                0.6355907189640668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102905202022042,
+                    -0.9632484633779334,
+                    -0.13703275127753028
+                ],
+                [
+                    -0.6933893991211012,
+                    0.26180748814591703,
+                    -0.6713180917696209
+                ],
+                [
+                    0.6825223207405873,
+                    -0.06007692527732084,
+                    -0.7283914090240952
+                ]
+            ],
+            "translation_vector": [
+                0.48705830636435915,
+                -0.07599896232528759,
+                0.6355907189640668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103814028205988,
+                    -0.9632476633395203,
+                    -0.13702305209694599
+                ],
+                [
+                    -0.6933893992147137,
+                    0.26180748808045023,
+                    -0.6713180916984617
+                ],
+                [
+                    0.6825192442647064,
+                    -0.06008975167164614,
+                    -0.7283932337359913
+                ]
+            ],
+            "translation_vector": [
+                0.48705943098957455,
+                -0.07599896231618336,
+                0.6355906590098528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103814028205988,
+                    -0.9632476633395203,
+                    -0.13702305209694599
+                ],
+                [
+                    -0.6933893992147137,
+                    0.26180748808045023,
+                    -0.6713180916984617
+                ],
+                [
+                    0.6825192442647064,
+                    -0.06008975167164614,
+                    -0.7283932337359913
+                ]
+            ],
+            "translation_vector": [
+                0.48705943098957455,
+                -0.07599896231618336,
+                0.6355906590098528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355907472934428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355906709994975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355906709994975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103450498224015,
+                    -0.9632479833753811,
+                    -0.13702693177209543
+                ],
+                [
+                    -0.6933893991772686,
+                    0.26180748810663684,
+                    -0.6713180917269256
+                ],
+                [
+                    0.682520474869581,
+                    -0.06008462111519449,
+                    -0.7283925038667312
+                ]
+            ],
+            "translation_vector": [
+                0.4870589811393926,
+                -0.07599896231982507,
+                0.6355906829897413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310399579295117,
+                    -0.9632475033113426,
+                    -0.1370211122579132
+                ],
+                [
+                    -0.6933893992334363,
+                    0.2618074880673568,
+                    -0.67131809168423
+                ],
+                [
+                    0.6825186289550083,
+                    -0.06009231694923279,
+                    -0.7283935986628721
+                ]
+            ],
+            "translation_vector": [
+                0.48705965591471345,
+                -0.07599896231436253,
+                0.6355906470208069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310399579295117,
+                    -0.9632475033113426,
+                    -0.1370211122579132
+                ],
+                [
+                    -0.6933893992334363,
+                    0.2618074880673568,
+                    -0.67131809168423
+                ],
+                [
+                    0.6825186289550083,
+                    -0.06009231694923279,
+                    -0.7283935986628721
+                ]
+            ],
+            "translation_vector": [
+                0.48705965591471345,
+                -0.07599896231436253,
+                0.6355906470208069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355906709994975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355907472934428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355907472934428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899187303877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355905947055522
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355905947055522
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355906709994975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355906709994975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355905947055522
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103632263296928,
+                    -0.9632478233608666,
+                    -0.13702499193500653
+                ],
+                [
+                    -0.6933893991959913,
+                    0.2618074880935435,
+                    -0.6713180917126936
+                ],
+                [
+                    0.6825198595695642,
+                    -0.06008718639363339,
+                    -0.7283928688039445
+                ]
+            ],
+            "translation_vector": [
+                0.4870592060644676,
+                -0.07599896231800422,
+                0.6355905947055522
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104307132924337,
+                    -0.9632472291850017,
+                    -0.1370177895682475
+                ],
+                [
+                    -0.6933893992569186,
+                    0.26180748805468296,
+                    -0.6713180916649186
+                ],
+                [
+                    0.6825175750036628,
+                    -0.06009671094091124,
+                    -0.7283942237176273
+                ]
+            ],
+            "translation_vector": [
+                0.4870593737700646,
+                -0.07599896231440423,
+                0.6355912347138977
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100788791283283,
+                    -0.9632503257743202,
+                    -0.13705533779360574
+                ],
+                [
+                    -0.6933893988988123,
+                    0.2618074883032535,
+                    -0.6713180919378583
+                ],
+                [
+                    0.682529484503634,
+                    -0.06004705624765561,
+                    -0.728387159290439
+                ]
+            ],
+            "translation_vector": [
+                0.48705535373213443,
+                -0.07599896234806855,
+                0.6355912008990847
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100788791283283,
+                    -0.9632503257743202,
+                    -0.13705533779360574
+                ],
+                [
+                    -0.6933893988988123,
+                    0.2618074883032535,
+                    -0.6713180919378583
+                ],
+                [
+                    0.682529484503634,
+                    -0.06004705624765561,
+                    -0.728387159290439
+                ]
+            ],
+            "translation_vector": [
+                0.48705535373213443,
+                -0.07599896234806855,
+                0.6355912008990847
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102957391410547,
+                    -0.9632484174425532,
+                    -0.13703219428836824
+                ],
+                [
+                    -0.693389399135064,
+                    0.26180748813240456,
+                    -0.6713180917604686
+                ],
+                [
+                    0.6825221440687347,
+                    -0.06007766184048035,
+                    -0.7283915138190445
+                ]
+            ],
+            "translation_vector": [
+                0.4870590383580112,
+                -0.0759989623216042,
+                0.6355901072920879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310090576999799,
+                    -0.9632502228612474,
+                    -0.13705408938928326
+                ],
+                [
+                    -0.6933893989151547,
+                    0.2618074882899496,
+                    -0.671318091926167
+                ],
+                [
+                    0.6825290885615415,
+                    -0.06004870717231326,
+                    -0.7283873942033087
+                ]
+            ],
+            "translation_vector": [
+                0.48705583219169596,
+                -0.07599896234531649,
+                0.6355908509160508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310090576999799,
+                    -0.9632502228612474,
+                    -0.13705408938928326
+                ],
+                [
+                    -0.6933893989151547,
+                    0.2618074882899496,
+                    -0.671318091926167
+                ],
+                [
+                    0.6825290885615415,
+                    -0.06004870717231326,
+                    -0.7283873942033087
+                ]
+            ],
+            "translation_vector": [
+                0.48705583219169596,
+                -0.07599896234531649,
+                0.6355908509160508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101256705735024,
+                    -0.9632499141050518,
+                    -0.1370503441739006
+                ],
+                [
+                    -0.6933893989641822,
+                    0.26180748825003897,
+                    -0.6713180918910923
+                ],
+                [
+                    0.6825279007232335,
+                    -0.06005365994522804,
+                    -0.7283880989290802
+                ]
+            ],
+            "translation_vector": [
+                0.48705726756851064,
+                -0.07599896233706027,
+                0.6355898009665367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105748644188714,
+                    -0.9632459597200977,
+                    -0.13700240524190138
+                ],
+                [
+                    -0.6933893994182829,
+                    0.2618074879362185,
+                    -0.6713180915444489
+                ],
+                [
+                    0.6825126949247983,
+                    -0.060117055345682804,
+                    -0.7283971175966132
+                ]
+            ],
+            "translation_vector": [
+                0.48706215870218417,
+                -0.07599896229522254,
+                0.6355901891732706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105748644188714,
+                    -0.9632459597200977,
+                    -0.13700240524190138
+                ],
+                [
+                    -0.6933893994182829,
+                    0.2618074879362185,
+                    -0.6713180915444489
+                ],
+                [
+                    0.6825126949247983,
+                    -0.060117055345682804,
+                    -0.7283971175966132
+                ]
+            ],
+            "translation_vector": [
+                0.48706215870218417,
+                -0.07599896229522254,
+                0.6355901891732706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101386283003927,
+                    -0.9632498000919806,
+                    -0.137048961335373
+                ],
+                [
+                    -0.693389398968942,
+                    0.26180748825045796,
+                    -0.6713180918860127
+                ],
+                [
+                    0.6825274621418788,
+                    -0.06005548866462696,
+                    -0.7283883591212998
+                ]
+            ],
+            "translation_vector": [
+                0.4870567605002745,
+                -0.07599896233892281,
+                0.6355904769370581
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099322046652462,
+                    -0.9632516159274971,
+                    -0.13707099077328672
+                ],
+                [
+                    -0.6933893987606169,
+                    0.2618074883942866,
+                    -0.6713180920450953
+                ],
+                [
+                    0.682534448789872,
+                    -0.060026356159128005,
+                    -0.7283842137096079
+                ]
+            ],
+            "translation_vector": [
+                0.48705453986495234,
+                -0.07599896235802013,
+                0.6355902709613117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099685584077442,
+                    -0.9632512962019745,
+                    -0.13706711114229295
+                ],
+                [
+                    -0.6933893987980613,
+                    0.2618074883680973,
+                    -0.6713180920166334
+                ],
+                [
+                    0.6825332184048922,
+                    -0.06003148673492842,
+                    -0.7283849438135405
+                ]
+            ],
+            "translation_vector": [
+                0.48705498971368294,
+                -0.07599896235437863,
+                0.635590323248158
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099685584077442,
+                    -0.9632512962019745,
+                    -0.13706711114229295
+                ],
+                [
+                    -0.6933893987980613,
+                    0.2618074883680973,
+                    -0.6713180920166334
+                ],
+                [
+                    0.6825332184048922,
+                    -0.06003148673492842,
+                    -0.7283849438135405
+                ]
+            ],
+            "translation_vector": [
+                0.48705498971368294,
+                -0.07599896235437863,
+                0.635590323248158
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310143847278559,
+                    -0.963249754172992,
+                    -0.13704840434854287
+                ],
+                [
+                    -0.6933893989829046,
+                    0.2618074882369451,
+                    -0.6713180918768604
+                ],
+                [
+                    0.6825272854816403,
+                    -0.06005622522880875,
+                    -0.7283884639286444
+                ]
+            ],
+            "translation_vector": [
+                0.4870574924932002,
+                -0.07599896233523942,
+                0.6355897889690633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310477503921125,
+                    -0.9632468171753172,
+                    -0.13701279590011198
+                ],
+                [
+                    -0.6933893993222895,
+                    0.2618074880014725,
+                    -0.6713180916181494
+                ],
+                [
+                    0.6825159909820566,
+                    -0.06010331461725332,
+                    -0.7283951630988506
+                ]
+            ],
+            "translation_vector": [
+                0.487061287609332,
+                -0.07599896230339565,
+                0.6355899111064095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310477503921125,
+                    -0.9632468171753172,
+                    -0.13701279590011198
+                ],
+                [
+                    -0.6933893993222895,
+                    0.2618074880014725,
+                    -0.6713180916181494
+                ],
+                [
+                    0.6825159909820566,
+                    -0.06010331461725332,
+                    -0.7283951630988506
+                ]
+            ],
+            "translation_vector": [
+                0.487061287609332,
+                -0.07599896230339565,
+                0.6355899111064095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104710251676105,
+                    -0.9632468742276857,
+                    -0.13701348732589624
+                ],
+                [
+                    -0.6933893993199097,
+                    0.26180748800126297,
+                    -0.6713180916206893
+                ],
+                [
+                    0.6825162103052091,
+                    -0.06010240026041246,
+                    -0.7283950330373988
+                ]
+            ],
+            "translation_vector": [
+                0.4870615411430733,
+                -0.07599896230246439,
+                0.635589573116972
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104710251676105,
+                    -0.9632468742276857,
+                    -0.13701348732589624
+                ],
+                [
+                    -0.6933893993199097,
+                    0.26180748800126297,
+                    -0.6713180916206893
+                ],
+                [
+                    0.6825162103052091,
+                    -0.06010240026041246,
+                    -0.7283950330373988
+                ]
+            ],
+            "translation_vector": [
+                0.4870615411430733,
+                -0.07599896230246439,
+                0.635589573116972
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104593275168575,
+                    -0.9632469772327837,
+                    -0.13701473574331108
+                ],
+                [
+                    -0.6933893993035668,
+                    0.2618074880145655,
+                    -0.6713180916323814
+                ],
+                [
+                    0.6825166063125074,
+                    -0.06010074934149382,
+                    -0.7283947981941173
+                ]
+            ],
+            "translation_vector": [
+                0.4870610626840562,
+                -0.07599896230521652,
+                0.6355899230928873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101074938520635,
+                    -0.96325007403028,
+                    -0.13705228399828645
+                ],
+                [
+                    -0.69338939894546,
+                    0.26180748826313327,
+                    -0.6713180919053234
+                ],
+                [
+                    0.6825285159599853,
+                    -0.06005109466122121,
+                    -0.7283877339243503
+                ]
+            ],
+            "translation_vector": [
+                0.4870570426438531,
+                -0.07599896233888105,
+                0.6355898129646091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102165539349306,
+                    -0.9632491143764352,
+                    -0.13704064503739152
+                ],
+                [
+                    -0.6933893990577944,
+                    0.2618074881845697,
+                    -0.6713180918199345
+                ],
+                [
+                    0.6825248244668622,
+                    -0.060066486358872885,
+                    -0.7283899238752405
+                ]
+            ],
+            "translation_vector": [
+                0.4870583921922777,
+                -0.07599896232795618,
+                0.6355898172791047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102347305580612,
+                    -0.9632489544102169,
+                    -0.13703870520717354
+                ],
+                [
+                    -0.693389399076517,
+                    0.2618074881714759,
+                    -0.6713180918057032
+                ],
+                [
+                    0.6825242092010662,
+                    -0.06006905164032405,
+                    -0.7283902888489744
+                ]
+            ],
+            "translation_vector": [
+                0.48705861711712695,
+                -0.07599896232613539,
+                0.6355897289906811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102347305580612,
+                    -0.9632489544102169,
+                    -0.13703870520717354
+                ],
+                [
+                    -0.693389399076517,
+                    0.2618074881714759,
+                    -0.6713180918057032
+                ],
+                [
+                    0.6825242092010662,
+                    -0.06006905164032405,
+                    -0.7283902888489744
+                ]
+            ],
+            "translation_vector": [
+                0.48705861711712695,
+                -0.07599896232613539,
+                0.6355897289906811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102957391410547,
+                    -0.9632484174425532,
+                    -0.13703219428836824
+                ],
+                [
+                    -0.693389399135064,
+                    0.26180748813240456,
+                    -0.6713180917604686
+                ],
+                [
+                    0.6825221440687347,
+                    -0.06007766184048035,
+                    -0.7283915138190445
+                ]
+            ],
+            "translation_vector": [
+                0.4870590383580112,
+                -0.0759989623216042,
+                0.6355900309981425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900833089492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355896090788428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355896090788428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104593275168575,
+                    -0.9632469772327837,
+                    -0.13701473574331108
+                ],
+                [
+                    -0.6933893993035668,
+                    0.2618074880145655,
+                    -0.6713180916323814
+                ],
+                [
+                    0.6825166063125074,
+                    -0.06010074934149382,
+                    -0.7283947981941173
+                ]
+            ],
+            "translation_vector": [
+                0.4870610626840562,
+                -0.07599896230521652,
+                0.6355899230928873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896973612762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896973612762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355900353498599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355895447733857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106346121211335,
+                    -0.9632454334249756,
+                    -0.13699602869649447
+                ],
+                [
+                    -0.6933893994884142,
+                    0.2618074878834292,
+                    -0.6713180914925992
+                ],
+                [
+                    0.6825106721288505,
+                    -0.06012548772443032,
+                    -0.7283983169640941
+                ]
+            ],
+            "translation_vector": [
+                0.48706356547188895,
+                -0.07599896228607643,
+                0.6355893889697609
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106346121211335,
+                    -0.9632454334249756,
+                    -0.13699602869649447
+                ],
+                [
+                    -0.6933893994884142,
+                    0.2618074878834292,
+                    -0.6713180914925992
+                ],
+                [
+                    0.6825106721288505,
+                    -0.06012548772443032,
+                    -0.7283983169640941
+                ]
+            ],
+            "translation_vector": [
+                0.48706356547188895,
+                -0.07599896228607643,
+                0.6355893889697609
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310252907164805,
+                    -0.963248794437166,
+                    -0.13703676537598375
+                ],
+                [
+                    -0.6933893990952393,
+                    0.2618074881583824,
+                    -0.6713180917914713
+                ],
+                [
+                    0.6825235939304288,
+                    -0.060071616921348936,
+                    -0.7283906538175419
+                ]
+            ],
+            "translation_vector": [
+                0.4870588420420081,
+                -0.07599896232431454,
+                0.6355897169968018
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101918984522093,
+                    -0.9632493313507962,
+                    -0.13704327628710203
+                ],
+                [
+                    -0.6933893990366922,
+                    0.2618074881974542,
+                    -0.671318091836706
+                ],
+                [
+                    0.6825256590244745,
+                    -0.060063006717822366,
+                    -0.728389428806612
+                ]
+            ],
+            "translation_vector": [
+                0.48705842080105166,
+                -0.07599896232884575,
+                0.6355894149937611
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101918984522093,
+                    -0.9632493313507962,
+                    -0.13704327628710203
+                ],
+                [
+                    -0.6933893990366922,
+                    0.2618074881974542,
+                    -0.671318091836706
+                ],
+                [
+                    0.6825256590244745,
+                    -0.060063006717822366,
+                    -0.728389428806612
+                ]
+            ],
+            "translation_vector": [
+                0.48705842080105166,
+                -0.07599896232884575,
+                0.6355894149937611
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355900473387337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103308323576915,
+                    -0.9632481085374797,
+                    -0.13702844905180384
+                ],
+                [
+                    -0.6933893991840921,
+                    0.261807488092496,
+                    -0.6713180917253921
+                ],
+                [
+                    0.6825209561249369,
+                    -0.06008261460411192,
+                    -0.7283922184322373
+                ]
+            ],
+            "translation_vector": [
+                0.4870604737335727,
+                -0.07599896231334781,
+                0.6355889810597815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103308323576915,
+                    -0.9632481085374797,
+                    -0.13702844905180384
+                ],
+                [
+                    -0.6933893991840921,
+                    0.261807488092496,
+                    -0.6713180917253921
+                ],
+                [
+                    0.6825209561249369,
+                    -0.06008261460411192,
+                    -0.7283922184322373
+                ]
+            ],
+            "translation_vector": [
+                0.4870604737335727,
+                -0.07599896231334781,
+                0.6355889810597815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103009580785572,
+                    -0.9632483715066092,
+                    -0.13703163729912587
+                ],
+                [
+                    -0.6933893991490269,
+                    0.2618074881188922,
+                    -0.6713180917513162
+                ],
+                [
+                    0.6825219673964824,
+                    -0.060078398403605154,
+                    -0.7283916186135679
+                ]
+            ],
+            "translation_vector": [
+                0.4870597703503663,
+                -0.07599896231792079,
+                0.6355893430310007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103009580785572,
+                    -0.9632483715066092,
+                    -0.13703163729912587
+                ],
+                [
+                    -0.6933893991490269,
+                    0.2618074881188922,
+                    -0.6713180917513162
+                ],
+                [
+                    0.6825219673964824,
+                    -0.060078398403605154,
+                    -0.7283916186135679
+                ]
+            ],
+            "translation_vector": [
+                0.4870597703503663,
+                -0.07599896231792079,
+                0.6355893430310007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355893670161914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101802006395158,
+                    -0.9632494342883772,
+                    -0.13704452469491138
+                ],
+                [
+                    -0.6933893990203496,
+                    0.26180748821075744,
+                    -0.671318091848398
+                ],
+                [
+                    0.682526054983933,
+                    -0.06006135579469281,
+                    -0.7283891939122747
+                ]
+            ],
+            "translation_vector": [
+                0.487057942342675,
+                -0.07599896233159785,
+                0.6355897649759134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.6355897050035214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.6355897050035214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355896090788428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104593275168575,
+                    -0.9632469772327837,
+                    -0.13701473574331108
+                ],
+                [
+                    -0.6933893993035668,
+                    0.2618074880145655,
+                    -0.6713180916323814
+                ],
+                [
+                    0.6825166063125074,
+                    -0.06010074934149382,
+                    -0.7283947981941173
+                ]
+            ],
+            "translation_vector": [
+                0.4870610626840562,
+                -0.07599896230521652,
+                0.6355899230928873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104593275168575,
+                    -0.9632469772327837,
+                    -0.13701473574331108
+                ],
+                [
+                    -0.6933893993035668,
+                    0.2618074880145655,
+                    -0.6713180916323814
+                ],
+                [
+                    0.6825166063125074,
+                    -0.06010074934149382,
+                    -0.7283947981941173
+                ]
+            ],
+            "translation_vector": [
+                0.4870610626840562,
+                -0.07599896230521652,
+                0.6355899230928873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310252907164805,
+                    -0.963248794437166,
+                    -0.13703676537598375
+                ],
+                [
+                    -0.6933893990952393,
+                    0.2618074881583824,
+                    -0.6713180917914713
+                ],
+                [
+                    0.6825235939304288,
+                    -0.060071616921348936,
+                    -0.7283906538175419
+                ]
+            ],
+            "translation_vector": [
+                0.4870588420420081,
+                -0.07599896232431454,
+                0.6355896407028564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.6355897812974666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.6355897812974666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355899427123284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105021590545946,
+                    -0.963246600055348,
+                    -0.13701016462968724
+                ],
+                [
+                    -0.693389399343392,
+                    0.26180748798858916,
+                    -0.6713180916013777
+                ],
+                [
+                    0.6825151563212725,
+                    -0.06010679424922116,
+                    -0.7283956580573716
+                ]
+            ],
+            "translation_vector": [
+                0.4870612590005888,
+                -0.07599896230250607,
+                0.6355902371099413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105021590545946,
+                    -0.963246600055348,
+                    -0.13701016462968724
+                ],
+                [
+                    -0.693389399343392,
+                    0.26180748798858916,
+                    -0.6713180916013777
+                ],
+                [
+                    0.6825151563212725,
+                    -0.06010679424922116,
+                    -0.7283956580573716
+                ]
+            ],
+            "translation_vector": [
+                0.4870612590005888,
+                -0.07599896230250607,
+                0.6355902371099413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104229746591629,
+                    -0.9632472973272213,
+                    -0.13701861542679344
+                ],
+                [
+                    -0.6933893992661216,
+                    0.2618074880407515,
+                    -0.6713180916608454
+                ],
+                [
+                    0.682517836958887,
+                    -0.060095618788696285,
+                    -0.7283940683691527
+                ]
+            ],
+            "translation_vector": [
+                0.48706061283360047,
+                -0.07599896230885825,
+                0.6355899470676398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104229746591629,
+                    -0.9632472973272213,
+                    -0.13701861542679344
+                ],
+                [
+                    -0.6933893992661216,
+                    0.2618074880407515,
+                    -0.6713180916608454
+                ],
+                [
+                    0.682517836958887,
+                    -0.060095618788696285,
+                    -0.7283940683691527
+                ]
+            ],
+            "translation_vector": [
+                0.48706061283360047,
+                -0.07599896230885825,
+                0.6355899470676398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103151755643334,
+                    -0.9632482463532928,
+                    -0.13703012002066664
+                ],
+                [
+                    -0.6933893991422034,
+                    0.26180748813303306,
+                    -0.6713180917528491
+                ],
+                [
+                    0.682521486147349,
+                    -0.06008040491523549,
+                    -0.7283919040547031
+                ]
+            ],
+            "translation_vector": [
+                0.4870582777545207,
+                -0.075998962324398,
+                0.6355910449586065
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355894433101367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355894433101367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103450498224015,
+                    -0.9632479833753811,
+                    -0.13702693177209543
+                ],
+                [
+                    -0.6933893991772686,
+                    0.26180748810663684,
+                    -0.6713180917269256
+                ],
+                [
+                    0.682520474869581,
+                    -0.06008462111519449,
+                    -0.7283925038667312
+                ]
+            ],
+            "translation_vector": [
+                0.4870589811393926,
+                -0.07599896231982507,
+                0.6355906829897413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355899906833978
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355899906833978
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310302217950897,
+                    -0.9632483604136676,
+                    -0.13703150286592433
+                ],
+                [
+                    -0.6933893991374437,
+                    0.26180748813261395,
+                    -0.6713180917579288
+                ],
+                [
+                    0.682521924762221,
+                    -0.0600785761987865,
+                    -0.7283916438982536
+                ]
+            ],
+            "translation_vector": [
+                0.48705878482383513,
+                -0.07599896232253546,
+                0.6355903689852045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310302217950897,
+                    -0.9632483604136676,
+                    -0.13703150286592433
+                ],
+                [
+                    -0.6933893991374437,
+                    0.26180748813261395,
+                    -0.6713180917579288
+                ],
+                [
+                    0.682521924762221,
+                    -0.0600785761987865,
+                    -0.7283916438982536
+                ]
+            ],
+            "translation_vector": [
+                0.48705878482383513,
+                -0.07599896232253546,
+                0.6355903689852045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355904212964382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355904212964382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355904212964382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.635589935079964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.635589935079964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.635589935079964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.635589935079964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899067403159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106891408106506,
+                    -0.9632449530344342,
+                    -0.13699020913587023
+                ],
+                [
+                    -0.6933893995445827,
+                    0.2618074878441524,
+                    -0.6713180914499017
+                ],
+                [
+                    0.6825088259829329,
+                    -0.0601331835380941,
+                    -0.7283994115133356
+                ]
+            ],
+            "translation_vector": [
+                0.4870642402487352,
+                -0.07599896228061369,
+                0.6355893530294545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103697051178462,
+                    -0.96324776632294,
+                    -0.1370243005112768
+                ],
+                [
+                    -0.693389399198371,
+                    0.2618074880937529,
+                    -0.6713180917101541
+                ],
+                [
+                    0.6825196402566447,
+                    -0.06008810075137511,
+                    -0.7283929988763166
+                ]
+            ],
+            "translation_vector": [
+                0.4870589525296841,
+                -0.07599896231893552,
+                0.6355910089867186
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103697051178462,
+                    -0.96324776632294,
+                    -0.1370243005112768
+                ],
+                [
+                    -0.693389399198371,
+                    0.2618074880937529,
+                    -0.6713180917101541
+                ],
+                [
+                    0.6825196402566447,
+                    -0.06008810075137511,
+                    -0.7283929988763166
+                ]
+            ],
+            "translation_vector": [
+                0.4870589525296841,
+                -0.07599896231893552,
+                0.6355910089867186
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102658648099297,
+                    -0.9632486803900039,
+                    -0.13703538253260555
+                ],
+                [
+                    -0.6933893990999987,
+                    0.26180748815880117,
+                    -0.6713180917863922
+                ],
+                [
+                    0.682523155324919,
+                    -0.06007344563862218,
+                    -0.7283909139839821
+                ]
+            ],
+            "translation_vector": [
+                0.4870583349739314,
+                -0.07599896232617713,
+                0.6355904692642576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102658648099297,
+                    -0.9632486803900039,
+                    -0.13703538253260555
+                ],
+                [
+                    -0.6933893990999987,
+                    0.26180748815880117,
+                    -0.6713180917863922
+                ],
+                [
+                    0.682523155324919,
+                    -0.06007344563862218,
+                    -0.7283909139839821
+                ]
+            ],
+            "translation_vector": [
+                0.4870583349739314,
+                -0.07599896232617713,
+                0.6355904692642576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104658062741346,
+                    -0.9632469201819829,
+                    -0.1370140443177496
+                ],
+                [
+                    -0.693389399305947,
+                    0.2618074880147752,
+                    -0.6713180916298418
+                ],
+                [
+                    0.6825163869904655,
+                    -0.06010166369843267,
+                    -0.7283949282567546
+                ]
+            ],
+            "translation_vector": [
+                0.4870608091499826,
+                -0.0759989623061478,
+                0.6355902610818709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.6355897693047852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.6355897693047852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102464283391208,
+                    -0.9632488514594456,
+                    -0.1370374567974876
+                ],
+                [
+                    -0.6933893990928593,
+                    0.2618074881581729,
+                    -0.6713180917940113
+                ],
+                [
+                    0.6825238132322619,
+                    -0.06007070256263114,
+                    -0.7283905237333372
+                ]
+            ],
+            "translation_vector": [
+                0.48705909557556526,
+                -0.07599896232338328,
+                0.6355893790096854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310252907164805,
+                    -0.963248794437166,
+                    -0.13703676537598375
+                ],
+                [
+                    -0.6933893990952393,
+                    0.2618074881583824,
+                    -0.6713180917914713
+                ],
+                [
+                    0.6825235939304288,
+                    -0.060071616921348936,
+                    -0.7283906538175419
+                ]
+            ],
+            "translation_vector": [
+                0.4870588420420081,
+                -0.07599896232431454,
+                0.6355897169968018
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.6355896167168946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355897573127028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355892307637618
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355892307637618
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355895807424445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355895327848974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355895327848974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104112769805363,
+                    -0.9632474003206967,
+                    -0.13701986384255438
+                ],
+                [
+                    -0.693389399249779,
+                    0.26180748805405424,
+                    -0.671318091672538
+                ],
+                [
+                    0.6825182329579502,
+                    -0.06009396786905328,
+                    -0.7283938335170822
+                ]
+            ],
+            "translation_vector": [
+                0.4870601343743128,
+                -0.07599896231161041,
+                0.6355902970442576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101685028200325,
+                    -0.9632495372231287,
+                    -0.13704577310231816
+                ],
+                [
+                    -0.6933893990040069,
+                    0.2618074882240606,
+                    -0.6713180918600897
+                ],
+                [
+                    0.6825264509413869,
+                    -0.06005970487138653,
+                    -0.7283889590157977
+                ]
+            ],
+            "translation_vector": [
+                0.4870574638839868,
+                -0.07599896233434995,
+                0.6355900386640514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101685028200325,
+                    -0.9632495372231287,
+                    -0.13704577310231816
+                ],
+                [
+                    -0.6933893990040069,
+                    0.2618074882240606,
+                    -0.6713180918600897
+                ],
+                [
+                    0.6825264509413869,
+                    -0.06005970487138653,
+                    -0.7283889590157977
+                ]
+            ],
+            "translation_vector": [
+                0.4870574638839868,
+                -0.07599896233434995,
+                0.6355900386640514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310071140360031,
+                    -0.9632503938602406,
+                    -0.1370561636441414
+                ],
+                [
+                    -0.6933893989080152,
+                    0.2618074882893215,
+                    -0.6713180919337861
+                ],
+                [
+                    0.6825297464189667,
+                    -0.06004596409193037,
+                    -0.7283870038993916
+                ]
+            ],
+            "translation_vector": [
+                0.48705659279463387,
+                -0.07599896234252265,
+                0.6355897606686057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101866794864787,
+                    -0.9632493772749701,
+                    -0.13704383327466993
+                ],
+                [
+                    -0.6933893990227292,
+                    0.2618074882109668,
+                    -0.6713180918458579
+                ],
+                [
+                    0.6825258356883869,
+                    -0.06006227015396368,
+                    -0.7283893240031883
+                ]
+            ],
+            "translation_vector": [
+                0.48705768880875155,
+                -0.0759989623325291,
+                0.6355901029619349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101866794864787,
+                    -0.9632493772749701,
+                    -0.13704383327466993
+                ],
+                [
+                    -0.6933893990227292,
+                    0.2618074882109668,
+                    -0.6713180918458579
+                ],
+                [
+                    0.6825258356883869,
+                    -0.06006227015396368,
+                    -0.7283893240031883
+                ]
+            ],
+            "translation_vector": [
+                0.48705768880875155,
+                -0.0759989623325291,
+                0.6355901029619349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900953002189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900953002189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900833089492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899187303877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899187303877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899187303877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899187303877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899187303877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899187303877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355895447733857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355895447733857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355900353498599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355898827619693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310773542975778,
+                    -0.9632442093397939,
+                    -0.13698120128027885
+                ],
+                [
+                    -0.6933893996358171,
+                    0.2618074877784825,
+                    -0.6713180913812783
+                ],
+                [
+                    0.6825059683281264,
+                    -0.06014509553135989,
+                    -0.7284011056279437
+                ]
+            ],
+            "translation_vector": [
+                0.4870656184106775,
+                -0.0759989622705778,
+                0.6355891077355067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106293932700028,
+                    -0.9632454793969268,
+                    -0.13699658569085899
+                ],
+                [
+                    -0.6933893994744511,
+                    0.2618074878969409,
+                    -0.6713180915017519
+                ],
+                [
+                    0.682510848826616,
+                    -0.060124751163551975,
+                    -0.7283982121967997
+                ]
+            ],
+            "translation_vector": [
+                0.48706283347871576,
+                -0.07599896228975986,
+                0.6355901532270571
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106293932700028,
+                    -0.9632454793969268,
+                    -0.13699658569085899
+                ],
+                [
+                    -0.6933893994744511,
+                    0.2618074878969409,
+                    -0.6713180915017519
+                ],
+                [
+                    0.682510848826616,
+                    -0.060124751163551975,
+                    -0.7283982121967997
+                ]
+            ],
+            "translation_vector": [
+                0.48706283347871576,
+                -0.07599896228975986,
+                0.6355901532270571
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105554282459428,
+                    -0.9632461309137285,
+                    -0.1370044795244499
+                ],
+                [
+                    -0.6933893994111433,
+                    0.2618074879355896,
+                    -0.6713180915520682
+                ],
+                [
+                    0.6825133529201365,
+                    -0.060114312277439255,
+                    -0.7283967274398785
+                ]
+            ],
+            "translation_vector": [
+                0.48706291930323764,
+                -0.07599896229242872,
+                0.6355892514957001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23112655523006914,
+                    -0.963239871083505,
+                    -0.13692869028262813
+                ],
+                [
+                    -0.6933894001297551,
+                    0.2618074874387428,
+                    -0.6713180910035959
+                ],
+                [
+                    0.6824893077955001,
+                    -0.06021453542166257,
+                    -0.72841097909681
+                ]
+            ],
+            "translation_vector": [
+                0.48707070589279194,
+                -0.07599896222602617,
+                0.6355897342529113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23112655523006914,
+                    -0.963239871083505,
+                    -0.13692869028262813
+                ],
+                [
+                    -0.6933894001297551,
+                    0.2618074874387428,
+                    -0.6713180910035959
+                ],
+                [
+                    0.6824893077955001,
+                    -0.06021453542166257,
+                    -0.72841097909681
+                ]
+            ],
+            "translation_vector": [
+                0.48707070589279194,
+                -0.07599896222602617,
+                0.6355897342529113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105748644188714,
+                    -0.9632459597200977,
+                    -0.13700240524190138
+                ],
+                [
+                    -0.6933893994182829,
+                    0.2618074879362185,
+                    -0.6713180915444489
+                ],
+                [
+                    0.6825126949247983,
+                    -0.060117055345682804,
+                    -0.7283971175966132
+                ]
+            ],
+            "translation_vector": [
+                0.48706215870218417,
+                -0.07599896229522254,
+                0.6355903417611612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23107319718601235,
+                    -0.963244575653455,
+                    -0.13698563799329586
+                ],
+                [
+                    -0.6933893995844078,
+                    0.261807487818178,
+                    -0.6713180914188964
+                ],
+                [
+                    0.6825073758474767,
+                    -0.06013922843311766,
+                    -0.7284002712226711
+                ]
+            ],
+            "translation_vector": [
+                0.4870644365665434,
+                -0.07599896227790309,
+                0.6355898196525628
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105021590545946,
+                    -0.963246600055348,
+                    -0.13701016462968724
+                ],
+                [
+                    -0.693389399343392,
+                    0.26180748798858916,
+                    -0.6713180916013777
+                ],
+                [
+                    0.6825151563212725,
+                    -0.06010679424922116,
+                    -0.7283956580573716
+                ]
+            ],
+            "translation_vector": [
+                0.4870612590005888,
+                -0.07599896230250607,
+                0.6355902371099413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105021590545946,
+                    -0.963246600055348,
+                    -0.13701016462968724
+                ],
+                [
+                    -0.693389399343392,
+                    0.26180748798858916,
+                    -0.6713180916013777
+                ],
+                [
+                    0.6825151563212725,
+                    -0.06010679424922116,
+                    -0.7283956580573716
+                ]
+            ],
+            "translation_vector": [
+                0.4870612590005888,
+                -0.07599896230250607,
+                0.6355902371099413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355903809774588
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310120451590632,
+                    -0.9632499600220787,
+                    -0.1370509011604515
+                ],
+                [
+                    -0.6933893989502193,
+                    0.2618074882635518,
+                    -0.671318091900244
+                ],
+                [
+                    0.6825280773820817,
+                    -0.06005292338092387,
+                    -0.7283879941202522
+                ]
+            ],
+            "translation_vector": [
+                0.4870565355755942,
+                -0.07599896234074362,
+                0.6355904889347035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310120451590632,
+                    -0.9632499600220787,
+                    -0.1370509011604515
+                ],
+                [
+                    -0.6933893989502193,
+                    0.2618074882635518,
+                    -0.671318091900244
+                ],
+                [
+                    0.6825280773820817,
+                    -0.06005292338092387,
+                    -0.7283879941202522
+                ]
+            ],
+            "translation_vector": [
+                0.4870565355755942,
+                -0.07599896234074362,
+                0.6355904889347035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310229511603418,
+                    -0.963249000339013,
+                    -0.13703926219539903
+                ],
+                [
+                    -0.6933893990625538,
+                    0.2618074881849885,
+                    -0.6713180918148551
+                ],
+                [
+                    0.6825243858682537,
+                    -0.060068315076753566,
+                    -0.7283901840490461
+                ]
+            ],
+            "translation_vector": [
+                0.48705788512415543,
+                -0.07599896232981874,
+                0.6355904932517613
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355904572714042
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355904572714042
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102476882148684,
+                    -0.9632488403679245,
+                    -0.13703732236448835
+                ],
+                [
+                    -0.6933893990812764,
+                    0.2618074881718949,
+                    -0.6713180918006239
+                ],
+                [
+                    0.6825237705990068,
+                    -0.060070880357900994,
+                    -0.7283905490190971
+                ]
+            ],
+            "translation_vector": [
+                0.48705811004902744,
+                -0.07599896232799795,
+                0.6355904049637646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102476882148684,
+                    -0.9632488403679245,
+                    -0.13703732236448835
+                ],
+                [
+                    -0.6933893990812764,
+                    0.2618074881718949,
+                    -0.6713180918006239
+                ],
+                [
+                    0.6825237705990068,
+                    -0.060070880357900994,
+                    -0.7283905490190971
+                ]
+            ],
+            "translation_vector": [
+                0.48705811004902744,
+                -0.07599896232799795,
+                0.6355904049637646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310267124684462,
+                    -0.9632486692979764,
+                    -0.1370352480995344
+                ],
+                [
+                    -0.6933893990884159,
+                    0.26180748817252314,
+                    -0.6713180917930047
+                ],
+                [
+                    0.6825231126913054,
+                    -0.06007362343386033,
+                    -0.7283909392693593
+                ]
+            ],
+            "translation_vector": [
+                0.487057349444472,
+                -0.0759989623307918,
+                0.6355914189215852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102723436293662,
+                    -0.9632486233651207,
+                    -0.13703469111073135
+                ],
+                [
+                    -0.6933893991023786,
+                    0.2618074881590104,
+                    -0.6713180917838525
+                ],
+                [
+                    0.6825229360212415,
+                    -0.06007435999717747,
+                    -0.7283910440662177
+                ]
+            ],
+            "translation_vector": [
+                0.48705808143941187,
+                -0.07599896232710841,
+                0.635590807250652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355904332874945
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310302217950897,
+                    -0.9632483604136676,
+                    -0.13703150286592433
+                ],
+                [
+                    -0.6933893991374437,
+                    0.26180748813261395,
+                    -0.6713180917579288
+                ],
+                [
+                    0.682521924762221,
+                    -0.0600785761987865,
+                    -0.7283916438982536
+                ]
+            ],
+            "translation_vector": [
+                0.48705878482383513,
+                -0.07599896232253546,
+                0.6355903689852045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310302217950897,
+                    -0.9632483604136676,
+                    -0.13703150286592433
+                ],
+                [
+                    -0.6933893991374437,
+                    0.26180748813261395,
+                    -0.6713180917579288
+                ],
+                [
+                    0.682521924762221,
+                    -0.0600785761987865,
+                    -0.7283916438982536
+                ]
+            ],
+            "translation_vector": [
+                0.48705878482383513,
+                -0.07599896232253546,
+                0.6355903689852045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355902687085475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355904212964382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355902687085475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237123/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe3fbabb51ca3c39054783d4b7babc4e9a292f
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/head_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.2685,
+        "fv": 236.259,
+        "pu": 480.7825,
+        "pv": 387.778,
+        "distortion_model": "equidistant",
+        "k1": 0.100896,
+        "k2": -0.0484948,
+        "k3": 0.0143345,
+        "k4": -0.00188306
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237123/parameters/camera/rs_camera_info.json b/parameters/1957/1237123/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d42b9cd4db0e5346de3135ac8a07834aacf71e
--- /dev/null
+++ b/parameters/1957/1237123/parameters/camera/rs_camera_info.json
@@ -0,0 +1,23 @@
+{
+    "d455_1": {
+        "SN": "246322300659",
+        "name": "head",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_1": {
+        "SN": "230322271141",
+        "name": "hand_left",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_2": {
+        "SN": "218622276006",
+        "name": "hand_right",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/back_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/back_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.777058,
+                0.000000,
+                -0.629624
+            ],
+            [
+                0.609032,
+                -0.252871,
+                0.751592
+            ],
+            [
+                -0.159001,
+                -0.967678,
+                -0.196914
+            ]
+        ],
+        "translation_vector": [
+            -0.20355,
+            0.16055,
+            0.69999
+        ]
+    }
+}
diff --git a/parameters/1957/1237171/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..43316218cca2db9fb7dcded15453164c66465dd4
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777058,
+                    0.0,
+                    -0.629624
+                ],
+                [
+                    0.609032,
+                    -0.252871,
+                    0.751592
+                ],
+                [
+                    -0.159001,
+                    -0.967678,
+                    -0.196914
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                0.16055,
+                0.69999
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44c5275afa0feef60d26ec8d3104e3c2b40ba60
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/back_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.5715,
+        "fv": 236.697,
+        "pu": 476.7585,
+        "pv": 385.487,
+        "distortion_model": "equidistant",
+        "k1": 0.0996644,
+        "k2": -0.0472069,
+        "k3": 0.0136756,
+        "k4": -0.00175233
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/back_right_fisheye_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/back_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdff44961bc8e96364d931180b442f2b1eb5afdd
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/back_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                -0.777000000,
+                0.000000000,
+                -0.629000000
+            ],
+            [
+                0.609000000,
+                0.252000000,
+                -0.752000000
+            ],
+            [
+                0.159000000,
+                -0.967000000,
+                -0.196000000
+            ]
+        ],
+        "translation_vector": [
+            -0.20355,
+            -0.16055,
+            0.69999
+        ]
+    }
+}
diff --git a/parameters/1957/1237171/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..075111b95e3bce4f96fc94ebe28037a3ed2382b7
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.777,
+                    0.0,
+                    -0.629
+                ],
+                [
+                    0.609,
+                    0.252,
+                    -0.752
+                ],
+                [
+                    0.159,
+                    -0.967,
+                    -0.196
+                ]
+            ],
+            "translation_vector": [
+                -0.20355,
+                -0.16055,
+                0.69999
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..30be258c7dc58f408a64e306e07a833189752b22
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/back_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 235.3475,
+        "fv": 235.4555,
+        "pu": 480.4635,
+        "pv": 387.9695,
+        "distortion_model": "equidistant",
+        "k1": 0.1014,
+        "k2": -0.0479755,
+        "k3": 0.0136264,
+        "k4": -0.00169217
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237171/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf98573198d0da7f97c0de2feab317e96e85f5db
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/fisheye_camera_info.json
@@ -0,0 +1,37 @@
+{
+    "cam0": {
+        "SN": "CC2306980",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_left_fisheye"
+    },
+    "cam3": {
+        "SN": "CC7055459",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_right_fisheye"
+    },
+    "cam4": {
+        "SN": "CC6802023",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_center_fisheye"
+    },
+    "cam5": {
+        "SN": "CC6801859",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_left_fisheye"
+    },
+    "cam6": {
+        "SN": "CC3831630",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_right_fisheye"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.8646710727343956,
+                -0.44356026800797427,
+                -0.23579275777903683
+            ],
+            [
+                0.5020752848459024,
+                0.7782889008447007,
+                0.3770766436268014
+            ],
+            [
+                0.016258669172335927,
+                -0.4444329819743825,
+                0.8956645466970895
+            ]
+        ],
+        "translation_vector": [
+            0.03145392238121546,
+            -0.06329102366421271,
+            0.05407264508531332
+        ]
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..634be23fcfe03db3629eae659cde3e0c07791fa2
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638941225217529,
+                    -0.2598215089925927,
+                    0.05831727045080159
+                ],
+                [
+                    -0.19371182632690775,
+                    0.5339018861329635,
+                    -0.8230580200233508
+                ],
+                [
+                    0.18271247606311328,
+                    -0.8046375329603241,
+                    -0.56495538907281
+                ]
+            ],
+            "translation_vector": [
+                0.6428340497714871,
+                0.24007259455965213,
+                0.47019956096572907
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639132744559287,
+                    -0.2597501756482981,
+                    0.058318484019458716
+                ],
+                [
+                    -0.1936691854931853,
+                    0.5338978705389578,
+                    -0.8230706594359762
+                ],
+                [
+                    0.18265663392840611,
+                    -0.8046632277447782,
+                    -0.564936849565772
+                ]
+            ],
+            "translation_vector": [
+                0.6428275126493554,
+                0.24005984797215632,
+                0.4702163791123328
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639028474080665,
+                    -0.25978473800668267,
+                    0.058336872194359936
+                ],
+                [
+                    -0.1937062560897521,
+                    0.5339007290549341,
+                    -0.8230600815653143
+                ],
+                [
+                    0.18267234905785062,
+                    -0.8046501733134777,
+                    -0.5649503619578253
+                ]
+            ],
+            "translation_vector": [
+                0.6428343680711095,
+                0.2400713854378645,
+                0.47021224176564674
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639061029757922,
+                    -0.2597687279937147,
+                    0.058354370894978434
+                ],
+                [
+                    -0.1937116613198893,
+                    0.5339010006373497,
+                    -0.8230586332620085
+                ],
+                [
+                    0.18264943721432517,
+                    -0.8046551618395076,
+                    -0.5649506647578407
+                ]
+            ],
+            "translation_vector": [
+                0.6428353979440893,
+                0.24006585534013386,
+                0.47021650533435766
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639009196758493,
+                    -0.2597792530559688,
+                    0.058393122281094244
+                ],
+                [
+                    -0.19374790968912428,
+                    0.5338871205072342,
+                    -0.823059104832447
+                ],
+                [
+                    0.1826383435622072,
+                    -0.8046609734777603,
+                    -0.56494597372021
+                ]
+            ],
+            "translation_vector": [
+                0.6428463640409461,
+                0.2400756921376522,
+                0.4702217558142351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639199086141422,
+                    -0.2597217574388709,
+                    0.05833539654590419
+                ],
+                [
+                    -0.1936672244014777,
+                    0.5339006639015775,
+                    -0.8230693089151622
+                ],
+                [
+                    0.18262370046062273,
+                    -0.8046705473660133,
+                    -0.5649370710368985
+                ]
+            ],
+            "translation_vector": [
+                0.6428287480882,
+                0.24005962023314206,
+                0.47022173231066233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638959567399678,
+                    -0.259800264473694,
+                    0.058381565238877234
+                ],
+                [
+                    -0.19375153276148135,
+                    0.533891062749175,
+                    -0.8230556947553025
+                ],
+                [
+                    0.18266069126366297,
+                    -0.8046515740964879,
+                    -0.5649521361771505
+                ]
+            ],
+            "translation_vector": [
+                0.6428447636956653,
+                0.24007667759271,
+                0.4702098358318777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638891694569558,
+                    -0.25982934989153567,
+                    0.05836418369618609
+                ],
+                [
+                    -0.1937534938088906,
+                    0.5338882680628999,
+                    -0.8230570459340263
+                ],
+                [
+                    0.18269442421822402,
+                    -0.804644036925484,
+                    -0.5649519636215388
+                ]
+            ],
+            "translation_vector": [
+                0.6428436402983495,
+                0.24007690543628568,
+                0.4702040341027378
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638900877620308,
+                    -0.2598255027975522,
+                    0.05836614438271523
+                ],
+                [
+                    -0.1937577207810048,
+                    0.5339096701583668,
+                    -0.8230421676616179
+                ],
+                [
+                    0.18268509614047587,
+                    -0.8046310783255788,
+                    -0.5649734360487773
+                ]
+            ],
+            "translation_vector": [
+                0.6428463763664698,
+                0.24007495204907223,
+                0.4702072272554562
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638989575631042,
+                    -0.2597899406813485,
+                    0.05837796099164837
+                ],
+                [
+                    -0.19373879107184286,
+                    0.5338757551465184,
+                    -0.8230686234456733
+                ],
+                [
+                    0.1826583708533003,
+                    -0.8046650637299448,
+                    -0.5649336728941745
+                ]
+            ],
+            "translation_vector": [
+                0.6428442387528679,
+                0.24007153773681308,
+                0.4702157496688747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639093035146072,
+                    -0.2597546274180685,
+                    0.05836427103019163
+                ],
+                [
+                    -0.19371166144181834,
+                    0.5339010007301128,
+                    -0.8230586331731385
+                ],
+                [
+                    0.1826325458932103,
+                    -0.8046597137637034,
+                    -0.5649496422038692
+                ]
+            ],
+            "translation_vector": [
+                0.6428377097444008,
+                0.24006585539068492,
+                0.4702219628537225
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639088538847304,
+                    -0.2597509472821453,
+                    0.058388070602250666
+                ],
+                [
+                    -0.1937256714878045,
+                    0.5338829106138814,
+                    -0.823067070147415
+                ],
+                [
+                    0.18262005806927256,
+                    -0.8046729044403562,
+                    -0.5649348911602974
+                ]
+            ],
+            "translation_vector": [
+                0.6428400388666202,
+                0.2400648595154561,
+                0.4702206967502868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638969131173886,
+                    -0.2597998770013115,
+                    0.05836749774380985
+                ],
+                [
+                    -0.193739613181374,
+                    0.5338924932488652,
+                    -0.8230575726745017
+                ],
+                [
+                    0.18266828725069328,
+                    -0.8046507500540931,
+                    -0.5649508538539298
+                ]
+            ],
+            "translation_vector": [
+                0.642842439750141,
+                0.24007323879724576,
+                0.47021181953981056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639061029757922,
+                    -0.2597687279937147,
+                    0.058354370894978434
+                ],
+                [
+                    -0.1937116613198893,
+                    0.5339010006373497,
+                    -0.8230586332620085
+                ],
+                [
+                    0.18264943721432517,
+                    -0.8046551618395076,
+                    -0.5649506647578407
+                ]
+            ],
+            "translation_vector": [
+                0.6428353979440893,
+                0.24006585534013386,
+                0.47021650533435766
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638937047524375,
+                    -0.2598094150758627,
+                    0.05837802477439207
+                ],
+                [
+                    -0.19375183179588512,
+                    0.533881531403853,
+                    -0.8230618069754037
+                ],
+                [
+                    0.1826722573746776,
+                    -0.8046549436024212,
+                    -0.5649435972925303
+                ]
+            ],
+            "translation_vector": [
+                0.6428487098362758,
+                0.24007614791761334,
+                0.4702212213070507
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639141144898496,
+                    -0.2597434263228849,
+                    0.05833465838844852
+                ],
+                [
+                    -0.1936745481855175,
+                    0.5338784760633438,
+                    -0.8230819778013716
+                ],
+                [
+                    0.18264651453664418,
+                    -0.8046782743919024,
+                    -0.5649186892370315
+                ]
+            ],
+            "translation_vector": [
+                0.6428292324484551,
+                0.24006289724707108,
+                0.47022447292116737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638932229405995,
+                    -0.25981974396795804,
+                    0.058339998402543634
+                ],
+                [
+                    -0.1937338839442502,
+                    0.5339182201590079,
+                    -0.8230422324486839
+                ],
+                [
+                    0.18269383399846803,
+                    -0.8046272645310141,
+                    -0.5649760421400879
+                ]
+            ],
+            "translation_vector": [
+                0.6428350733164405,
+                0.24007464804302778,
+                0.47021126954271486
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639199086141422,
+                    -0.2597217574388709,
+                    0.05833539654590419
+                ],
+                [
+                    -0.1936672244014777,
+                    0.5339006639015775,
+                    -0.8230693089151622
+                ],
+                [
+                    0.18262370046062273,
+                    -0.8046705473660133,
+                    -0.5649370710368985
+                ]
+            ],
+            "translation_vector": [
+                0.6428287480882,
+                0.24005962023314206,
+                0.47022173231066233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639061029757922,
+                    -0.2597687279937147,
+                    0.058354370894978434
+                ],
+                [
+                    -0.1937116613198893,
+                    0.5339010006373497,
+                    -0.8230586332620085
+                ],
+                [
+                    0.18264943721432517,
+                    -0.8046551618395076,
+                    -0.5649506647578407
+                ]
+            ],
+            "translation_vector": [
+                0.6428353979440893,
+                0.24006585534013386,
+                0.4702164290404124
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638977190354426,
+                    -0.2597933536536879,
+                    0.05838322221016202
+                ],
+                [
+                    -0.19374790956719537,
+                    0.5338871204144737,
+                    -0.8230591049213196
+                ],
+                [
+                    0.18265523473641032,
+                    -0.8046564211220287,
+                    -0.564946996779765
+                ]
+            ],
+            "translation_vector": [
+                0.6428440522370061,
+                0.24007569208710022,
+                0.4702162218492676
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638896971518907,
+                    -0.25983003888141515,
+                    0.058352400287555665
+                ],
+                [
+                    -0.19374353547984144,
+                    0.5338869044039383,
+                    -0.8230602746857315
+                ],
+                [
+                    0.18270220081927918,
+                    -0.8046447192400275,
+                    -0.5649484769560225
+                ]
+            ],
+            "translation_vector": [
+                0.6428447855302841,
+                0.24007369455762714,
+                0.4702112086657508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639062763545183,
+                    -0.25976796417828996,
+                    0.05835490717184025
+                ],
+                [
+                    -0.19371166132052645,
+                    0.5339010006401551,
+                    -0.8230586332600388
+                ],
+                [
+                    0.18264852223001724,
+                    -0.8046554084215852,
+                    -0.5649506093678306
+                ]
+            ],
+            "translation_vector": [
+                0.6428353013899939,
+                0.24006585533977925,
+                0.47021691489866246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639050672502106,
+                    -0.25977793571159097,
+                    0.05833048471247051
+                ],
+                [
+                    -0.19369794566358986,
+                    0.5339061110665743,
+                    -0.823058546162709
+                ],
+                [
+                    0.1826694478424683,
+                    -0.8046487983481935,
+                    -0.5649532583689879
+                ]
+            ],
+            "translation_vector": [
+                0.6428351612329055,
+                0.24006892811106806,
+                0.47021287996346833
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9639064032950143,
+                    -0.25976186423719666,
+                    0.05837995867492329
+                ],
+                [
+                    -0.1937284542296914,
+                    0.5338968546484973,
+                    -0.8230573701864385
+                ],
+                [
+                    0.18263004054274287,
+                    -0.8046601285539492,
+                    -0.5649498613212491
+                ]
+            ],
+            "translation_vector": [
+                0.6428417246229737,
+                0.24006678840390455,
+                0.4702219950520836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638948080110413,
+                    -0.25980497263875824,
+                    0.05837957931958791
+                ],
+                [
+                    -0.19375497897216304,
+                    0.5339012794744676,
+                    -0.8230482561180865
+                ],
+                [
+                    0.18266309756722784,
+                    -0.8046432749782357,
+                    -0.5649631782863773
+                ]
+            ],
+            "translation_vector": [
+                0.6428419796761549,
+                0.24008217188389572,
+                0.470217430702067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9638728906514598,
+                    -0.25990202967560866,
+                    0.0583093957926037
+                ],
+                [
+                    -0.19374421981686604,
+                    0.5338615676441203,
+                    -0.8230765480076058
+                ],
+                [
+                    0.18279011995934932,
+                    -0.8046382799513467,
+                    -0.5649292083811788
+                ]
+            ],
+            "translation_vector": [
+                0.642850836389707,
+                0.24007067949813501,
+                0.4702092089533853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9636130857431583,
+                    -0.2604392233530054,
+                    0.06017667258857039
+                ],
+                [
+                    -0.19557225665659875,
+                    0.533470925147195,
+                    -0.8228974811292361
+                ],
+                [
+                    0.1822122756863381,
+                    -0.8047236686974476,
+                    -0.5649942509683852
+                ]
+            ],
+            "translation_vector": [
+                0.643224481877083,
+                0.24034837257675332,
+                0.4698120774382319
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963443918822249,
+                    -0.25818124561111794,
+                    0.07154201352435732
+                ],
+                [
+                    -0.20471344744089884,
+                    0.537184751404885,
+                    -0.8182450411062292
+                ],
+                [
+                    0.17282424517783976,
+                    -0.8029788211856923,
+                    -0.5704005548787154
+                ]
+            ],
+            "translation_vector": [
+                0.6449605984244483,
+                0.24069096487737013,
+                0.4672221989080481
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9627544873669016,
+                    -0.25821755921561723,
+                    0.0801716232068655
+                ],
+                [
+                    -0.2137912891186567,
+                    0.5455049144292967,
+                    -0.8103811899535112
+                ],
+                [
+                    0.16552063844692408,
+                    -0.7973381217816036,
+                    -0.5803919691052831
+                ]
+            ],
+            "translation_vector": [
+                0.6471971531233307,
+                0.2398699650013088,
+                0.4612824051032091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9600617310254345,
+                    -0.26407897568268296,
+                    0.09243250090109871
+                ],
+                [
+                    -0.22737893440724666,
+                    0.5439111236138383,
+                    -0.8077496578748625
+                ],
+                [
+                    0.16303463683607744,
+                    -0.7965067383340315,
+                    -0.5822342509507763
+                ]
+            ],
+            "translation_vector": [
+                0.6512577377292438,
+                0.2395080705541592,
+                0.45607971657816104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.958329443493569,
+                    -0.26575235960749655,
+                    0.10478721819169848
+                ],
+                [
+                    -0.2392414922315022,
+                    0.5461942622523627,
+                    -0.802767298958697
+                ],
+                [
+                    0.156103126580318,
+                    -0.7943849893128935,
+                    -0.5870130344602273
+                ]
+            ],
+            "translation_vector": [
+                0.6543507403679822,
+                0.23940943555666222,
+                0.4508162033719974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9559517491865173,
+                    -0.2703656728062792,
+                    0.11427447744464439
+                ],
+                [
+                    -0.25257216058227194,
+                    0.5593303444971732,
+                    -0.7895295240986732
+                ],
+                [
+                    0.14954449814701176,
+                    -0.7836146812641289,
+                    -0.6029796633231315
+                ]
+            ],
+            "translation_vector": [
+                0.657569609294196,
+                0.2383885452241599,
+                0.43892117613850495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9512614239389829,
+                    -0.28368022141308075,
+                    0.12094310771848168
+                ],
+                [
+                    -0.2679985218683122,
+                    0.566423544781442,
+                    -0.7793209609612884
+                ],
+                [
+                    0.1525729189665668,
+                    -0.7737505411282449,
+                    -0.6148427477833419
+                ]
+            ],
+            "translation_vector": [
+                0.6617691656046498,
+                0.23749565895251806,
+                0.4280538756262822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9475053718259673,
+                    -0.29085620817470975,
+                    0.13280149294027255
+                ],
+                [
+                    -0.2834393196700147,
+                    0.5718426645123559,
+                    -0.7698429184635062
+                ],
+                [
+                    0.14797203258026317,
+                    -0.7670714655165054,
+                    -0.6242640822315716
+                ]
+            ],
+            "translation_vector": [
+                0.6660963701832475,
+                0.2361486609906297,
+                0.41829504785132227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9463465127779283,
+                    -0.2892210966101792,
+                    0.1441507371769579
+                ],
+                [
+                    -0.2938803874164995,
+                    0.5847324726661478,
+                    -0.7561231733663911
+                ],
+                [
+                    0.13439715638726557,
+                    -0.7579176028338034,
+                    -0.6383559443364484
+                ]
+            ],
+            "translation_vector": [
+                0.6700050239652325,
+                0.23315624553824793,
+                0.4071176015810262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9432949075901611,
+                    -0.29582422011373394,
+                    0.1506079284386146
+                ],
+                [
+                    -0.30385018617877463,
+                    0.5867457727126604,
+                    -0.7506027328507056
+                ],
+                [
+                    0.13367790271242935,
+                    -0.7538019826174011,
+                    -0.6433605438076554
+                ]
+            ],
+            "translation_vector": [
+                0.6746158417419921,
+                0.22977446828335252,
+                0.39844467806148853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9411276753372135,
+                    -0.2991211699356483,
+                    0.15749674412730427
+                ],
+                [
+                    -0.3123291055609771,
+                    0.5911274583236961,
+                    -0.7436523770117646
+                ],
+                [
+                    0.12934151898695384,
+                    -0.7490626500581221,
+                    -0.6497506581405295
+                ]
+            ],
+            "translation_vector": [
+                0.6785030070606344,
+                0.22647770311416582,
+                0.3894054978744528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9394465533883661,
+                    -0.3032943304372494,
+                    0.1595390938025566
+                ],
+                [
+                    -0.3176803344933224,
+                    0.5961425341395311,
+                    -0.7373556021797824
+                ],
+                [
+                    0.1285277339834915,
+                    -0.7433886117733572,
+                    -0.6563946933688223
+                ]
+            ],
+            "translation_vector": [
+                0.6829177413205103,
+                0.2210358355869974,
+                0.3790659644367222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9387344340932169,
+                    -0.30402750928327055,
+                    0.16231123142499734
+                ],
+                [
+                    -0.3210571867965209,
+                    0.6002186513861953,
+                    -0.7325707155861755
+                ],
+                [
+                    0.12529942160278335,
+                    -0.73980054347584,
+                    -0.6610561328804538
+                ]
+            ],
+            "translation_vector": [
+                0.6858346489153053,
+                0.21773201120596647,
+                0.3728851706560719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9388397297664194,
+                    -0.30529373113738084,
+                    0.159297518939667
+                ],
+                [
+                    -0.32091504382660274,
+                    0.6079371875507543,
+                    -0.7262409453057913
+                ],
+                [
+                    0.12487392224914931,
+                    -0.7329448231081902,
+                    -0.6687289359830467
+                ]
+            ],
+            "translation_vector": [
+                0.6891425447140502,
+                0.21277220469051106,
+                0.36509657418638025
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9340635777710679,
+                    -0.31613743995573446,
+                    0.16607935374316424
+                ],
+                [
+                    -0.3338450826113497,
+                    0.6079323080815614,
+                    -0.720392788419517
+                ],
+                [
+                    0.12677812704774324,
+                    -0.728337440922036,
+                    -0.6733883564878489
+                ]
+            ],
+            "translation_vector": [
+                0.6966229361148563,
+                0.20753007721006128,
+                0.3554639271968733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9299321383556072,
+                    -0.3215828008740321,
+                    0.17835560051588126
+                ],
+                [
+                    -0.34653298511013086,
+                    0.6040562062612959,
+                    -0.7176565960874831
+                ],
+                [
+                    0.12304921082245832,
+                    -0.7291780316625177,
+                    -0.6731703275224977
+                ]
+            ],
+            "translation_vector": [
+                0.7031593395315929,
+                0.20328837966415797,
+                0.3489882700503581
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9284928793624884,
+                    -0.32301564795093446,
+                    0.18319897421108577
+                ],
+                [
+                    -0.3517364274091014,
+                    0.6067745529535546,
+                    -0.7128156336118734
+                ],
+                [
+                    0.11909012808221373,
+                    -0.7262819928009042,
+                    -0.6770022218032301
+                ]
+            ],
+            "translation_vector": [
+                0.707886076387424,
+                0.19835294686014487,
+                0.34263730107158363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.924728787196266,
+                    -0.328698830231315,
+                    0.19192120553781442
+                ],
+                [
+                    -0.36195648905178185,
+                    0.6034188368078636,
+                    -0.7105443036283893
+                ],
+                [
+                    0.11774621082578493,
+                    -0.7265278978745485,
+                    -0.6769734436786717
+                ]
+            ],
+            "translation_vector": [
+                0.7152390808170394,
+                0.1921811104481346,
+                0.33511980941045655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9225927640696823,
+                    -0.3326484219343851,
+                    0.19536534767155345
+                ],
+                [
+                    -0.3670872146509253,
+                    0.6012891313660532,
+                    -0.7097170966947907
+                ],
+                [
+                    0.11861521203492004,
+                    -0.7264959792632172,
+                    -0.6768559843779846
+                ]
+            ],
+            "translation_vector": [
+                0.7194157618193048,
+                0.1882058971427861,
+                0.3304176632980499
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9212485418865972,
+                    -0.33512590535719167,
+                    0.19746329185532466
+                ],
+                [
+                    -0.3707591138003792,
+                    0.6030144430216747,
+                    -0.7063365069435509
+                ],
+                [
+                    0.11763844442092877,
+                    -0.7239227921994044,
+                    -0.6797771600520586
+                ]
+            ],
+            "translation_vector": [
+                0.7225924002934346,
+                0.18510270584315494,
+                0.32549521080146004
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9185098262454352,
+                    -0.33851914809005684,
+                    0.2043146726668513
+                ],
+                [
+                    -0.37849056093318445,
+                    0.6032641702562112,
+                    -0.7020094274079006
+                ],
+                [
+                    0.11438791183977358,
+                    -0.7221337322556448,
+                    -0.6822303704493585
+                ]
+            ],
+            "translation_vector": [
+                0.728649563975444,
+                0.17982740675011843,
+                0.3178557012236393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.916411621307078,
+                    -0.3411825830481099,
+                    0.20924670931212372
+                ],
+                [
+                    -0.3841497439062008,
+                    0.6030620467752968,
+                    -0.6991030982594701
+                ],
+                [
+                    0.11233305208233754,
+                    -0.7210482735322299,
+                    -0.6837182699373021
+                ]
+            ],
+            "translation_vector": [
+                0.7326612917065002,
+                0.1764909147433712,
+                0.31299653432675445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9148107181677044,
+                    -0.34317121199103306,
+                    0.2129668264920492
+                ],
+                [
+                    -0.3883846060746348,
+                    0.6027992832671174,
+                    -0.6969866726537178
+                ],
+                [
+                    0.11080951082709385,
+                    -0.7203239155777458,
+                    -0.6847296612218614
+                ]
+            ],
+            "translation_vector": [
+                0.7359604784926985,
+                0.1734194402876787,
+                0.308997959080697
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9134014570316258,
+                    -0.34408278079634924,
+                    0.21749670860027898
+                ],
+                [
+                    -0.3931959796238111,
+                    0.6075316833359028,
+                    -0.6901464883274538
+                ],
+                [
+                    0.10533138136459953,
+                    -0.7158996394065973,
+                    -0.6902122908187954
+                ]
+            ],
+            "translation_vector": [
+                0.740374581818034,
+                0.16839418684532467,
+                0.3018283106872083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9133512631702365,
+                    -0.3442898886995166,
+                    0.21737971985585194
+                ],
+                [
+                    -0.39390236086216407,
+                    0.611938205379885,
+                    -0.6858371256381942
+                ],
+                [
+                    0.10310383199739813,
+                    -0.7120365898854645,
+                    -0.6945311328455566
+                ]
+            ],
+            "translation_vector": [
+                0.7432548463466196,
+                0.16418102910991728,
+                0.29690734353710313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9123590604219018,
+                    -0.34569587048702877,
+                    0.21930642944127338
+                ],
+                [
+                    -0.39633391085442404,
+                    0.6116266720233131,
+                    -0.684713257631634
+                ],
+                [
+                    0.10256888403849514,
+                    -0.7116229192471969,
+                    -0.6950341321325131
+                ]
+            ],
+            "translation_vector": [
+                0.7467436808488108,
+                0.16035810880453366,
+                0.29343520197495054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9098332150509085,
+                    -0.3483715553360513,
+                    0.2254790017337926
+                ],
+                [
+                    -0.4025180255909905,
+                    0.60875124968658,
+                    -0.683667430173003
+                ],
+                [
+                    0.10090966189844136,
+                    -0.7127826986100096,
+                    -0.6940879372945293
+                ]
+            ],
+            "translation_vector": [
+                0.7510754979873215,
+                0.15646046281791406,
+                0.2899001239046085
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9084639653629776,
+                    -0.35039384432336956,
+                    0.22785385117935836
+                ],
+                [
+                    -0.4060277742857016,
+                    0.6105021569104266,
+                    -0.6800210018200296
+                ],
+                [
+                    0.09916990544300355,
+                    -0.7102895679003087,
+                    -0.6968888430635253
+                ]
+            ],
+            "translation_vector": [
+                0.7538001628386739,
+                0.15320824877903078,
+                0.2852234131473001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9081858806107296,
+                    -0.3507889531045628,
+                    0.2283539284512505
+                ],
+                [
+                    -0.4068944950368116,
+                    0.6119575900097436,
+                    -0.6781922868465884
+                ],
+                [
+                    0.0981594425822193,
+                    -0.7088406156600171,
+                    -0.6985053367173916
+                ]
+            ],
+            "translation_vector": [
+                0.7552467154671002,
+                0.15095410832452813,
+                0.2822581510056443
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9082171532407228,
+                    -0.34957705582940946,
+                    0.23008147382385957
+                ],
+                [
+                    -0.40763732836109673,
+                    0.6145105499045771,
+                    -0.675432152464333
+                ],
+                [
+                    0.09472809026864679,
+                    -0.7072288640133519,
+                    -0.7006096793653646
+                ]
+            ],
+            "translation_vector": [
+                0.7574900626139109,
+                0.1477031515058679,
+                0.27849020410730263
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9093391704490934,
+                    -0.34842029918674217,
+                    0.2273885841496353
+                ],
+                [
+                    -0.40499389512355444,
+                    0.6160799079264765,
+                    -0.6755926967944192
+                ],
+                [
+                    0.09530067155905028,
+                    -0.706433890865894,
+                    -0.701333686511969
+                ]
+            ],
+            "translation_vector": [
+                0.7585738144365093,
+                0.14512302276250172,
+                0.27658000310916037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9115160849945155,
+                    -0.3454211999711286,
+                    0.223209814763546
+                ],
+                [
+                    -0.39979680571005016,
+                    0.6169629981339723,
+                    -0.6778784353241963
+                ],
+                [
+                    0.09644138603478904,
+                    -0.7071356684145171,
+                    -0.7004699890185467
+                ]
+            ],
+            "translation_vector": [
+                0.7586974599373207,
+                0.14335280770826397,
+                0.2756602094771901
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9127637673024395,
+                    -0.34402642669160927,
+                    0.22024559663625778
+                ],
+                [
+                    -0.3965089104975105,
+                    0.6165673713394413,
+                    -0.6801656860616014
+                ],
+                [
+                    0.09819872196691525,
+                    -0.7081599355635525,
+                    -0.6991899002893922
+                ]
+            ],
+            "translation_vector": [
+                0.7591778429857832,
+                0.14262541805056866,
+                0.27506450663172033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9148716834929269,
+                    -0.34100487993904044,
+                    0.21616076101036186
+                ],
+                [
+                    -0.3910535683801871,
+                    0.6152354490364526,
+                    -0.6845162152250576
+                ],
+                [
+                    0.10043360692487574,
+                    -0.7107749391380339,
+                    -0.696212666139725
+                ]
+            ],
+            "translation_vector": [
+                0.7589503936446872,
+                0.14179105064815978,
+                0.27543324326936364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9165601424901043,
+                    -0.3385961703800163,
+                    0.21276780443127866
+                ],
+                [
+                    -0.38659008405616246,
+                    0.6141249923295092,
+                    -0.6880396796012057
+                ],
+                [
+                    0.10230157431813615,
+                    -0.7128836701736601,
+                    -0.6937804124445743
+                ]
+            ],
+            "translation_vector": [
+                0.758621409352637,
+                0.14196224936028434,
+                0.2759514004798824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9182143187124624,
+                    -0.3361716426585691,
+                    0.20945427086514185
+                ],
+                [
+                    -0.3821369002338109,
+                    0.6127885446478701,
+                    -0.6917091795169703
+                ],
+                [
+                    0.10418183330649992,
+                    -0.7151774788264695,
+                    -0.6911348055106993
+                ]
+            ],
+            "translation_vector": [
+                0.7581840563476356,
+                0.142646106425717,
+                0.2766524257968987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9196102014461317,
+                    -0.3330233538323296,
+                    0.20835672103023842
+                ],
+                [
+                    -0.3786890651951596,
+                    0.6104926309415362,
+                    -0.6956244241454568
+                ],
+                [
+                    0.10445893594050089,
+                    -0.7186057287333223,
+                    -0.6875275538724466
+                ]
+            ],
+            "translation_vector": [
+                0.7583215296610711,
+                0.14334906807515724,
+                0.27821851732157094
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9211270151022986,
+                    -0.32923798646334057,
+                    0.20767130355033395
+                ],
+                [
+                    -0.37506680388168034,
+                    0.6079184785396646,
+                    -0.6998285619178459
+                ],
+                [
+                    0.10416292370469893,
+                    -0.7225216064032857,
+                    -0.6834563728620171
+                ]
+            ],
+            "translation_vector": [
+                0.7581365500268067,
+                0.1436484670403509,
+                0.27987085570145837
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9232248365078329,
+                    -0.32437414812194104,
+                    0.20600318756089905
+                ],
+                [
+                    -0.3698150210659196,
+                    0.6044349845795771,
+                    -0.7056168929456695
+                ],
+                [
+                    0.10436834505298652,
+                    -0.7276261137744111,
+                    -0.6779878222390497
+                ]
+            ],
+            "translation_vector": [
+                0.7578505162403854,
+                0.14371118966352414,
+                0.28194236336366413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9248527963351127,
+                    -0.321390957713636,
+                    0.2033596749875315
+                ],
+                [
+                    -0.36546177805094665,
+                    0.6029758286846298,
+                    -0.7091246990522362
+                ],
+                [
+                    0.10528529762014825,
+                    -0.7301561492735618,
+                    -0.6751199921369837
+                ]
+            ],
+            "translation_vector": [
+                0.757141962458778,
+                0.14360983118429055,
+                0.2826672518514043
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9262081512577005,
+                    -0.3189441943261245,
+                    0.20103000136659221
+                ],
+                [
+                    -0.36177216749136404,
+                    0.6018028522309139,
+                    -0.7120071810560182
+                ],
+                [
+                    0.10611012850992693,
+                    -0.7321939141732854,
+                    -0.6727798396765547
+                ]
+            ],
+            "translation_vector": [
+                0.7566624735972525,
+                0.1435782737535356,
+                0.28338888862243994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274590240833986,
+                    -0.3161589613816401,
+                    0.1996578818488071
+                ],
+                [
+                    -0.3586507558705935,
+                    0.6010980545895312,
+                    -0.7141783839364876
+                ],
+                [
+                    0.10577993174379358,
+                    -0.73397863722779,
+                    -0.6708844655628231
+                ]
+            ],
+            "translation_vector": [
+                0.7563989356394046,
+                0.14382248629893013,
+                0.2841432137953936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9280895037051663,
+                    -0.3151770158543886,
+                    0.19827587293824003
+                ],
+                [
+                    -0.35677456720881806,
+                    0.600263511688204,
+                    -0.7158181506002111
+                ],
+                [
+                    0.10659165682762967,
+                    -0.735083100889191,
+                    -0.6695454080806418
+                ]
+            ],
+            "translation_vector": [
+                0.7563762795058815,
+                0.1443001603791429,
+                0.2847927843090088
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9282173315492095,
+                    -0.31529351666080463,
+                    0.19749071817006417
+                ],
+                [
+                    -0.3560417083341945,
+                    0.5988338659613485,
+                    -0.7173787722704472
+                ],
+                [
+                    0.1079207456336971,
+                    -0.7361983423843392,
+                    -0.6681056154025488
+                ]
+            ],
+            "translation_vector": [
+                0.7566226439489447,
+                0.1449583670504121,
+                0.2854866992032724
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9286496450900954,
+                    -0.3130708441754515,
+                    0.1989886509359527
+                ],
+                [
+                    -0.3551889512773774,
+                    0.5956832825748304,
+                    -0.7204180978788306
+                ],
+                [
+                    0.10700768927753292,
+                    -0.7396945811536987,
+                    -0.6643803737674209
+                ]
+            ],
+            "translation_vector": [
+                0.7574534056048655,
+                0.14546790432268858,
+                0.28746844159887414
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9297928885369651,
+                    -0.3089017295038373,
+                    0.20016219906771882
+                ],
+                [
+                    -0.3530195597092018,
+                    0.5943892291295662,
+                    -0.7225500915213295
+                ],
+                [
+                    0.1042227177193544,
+                    -0.7424831080935771,
+                    -0.661707230810495
+                ]
+            ],
+            "translation_vector": [
+                0.757973293440154,
+                0.14519936657794308,
+                0.28914422940964274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9314046867130171,
+                    -0.3045257183666767,
+                    0.19937250668606685
+                ],
+                [
+                    -0.34919694647933636,
+                    0.5930467339584109,
+                    -0.7255046959949807
+                ],
+                [
+                    0.10269762479499536,
+                    -0.7453587446287334,
+                    -0.6587059584267817
+                ]
+            ],
+            "translation_vector": [
+                0.7581941886928805,
+                0.14439709575347426,
+                0.29085520814757004
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9343524650778012,
+                    -0.2959954392834413,
+                    0.1984242196064752
+                ],
+                [
+                    -0.3424156527408919,
+                    0.5915646735368129,
+                    -0.7299333927019048
+                ],
+                [
+                    0.09867619652715157,
+                    -0.7499586234897808,
+                    -0.6540833825226324
+                ]
+            ],
+            "translation_vector": [
+                0.7584777703531244,
+                0.14250845880115762,
+                0.2935056189637777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9362316897949513,
+                    -0.29075966224901006,
+                    0.19730443946483392
+                ],
+                [
+                    -0.3378580733680891,
+                    0.590597425222409,
+                    -0.7328346359040796
+                ],
+                [
+                    0.09655125728696475,
+                    -0.7527639072973036,
+                    -0.6511715247051298
+                ]
+            ],
+            "translation_vector": [
+                0.7586541410402105,
+                0.14111283196749377,
+                0.29518426026710326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9378029643423191,
+                    -0.2846150165864439,
+                    0.19879610761847746
+                ],
+                [
+                    -0.33481494974956966,
+                    0.5900806842301717,
+                    -0.7346453127344148
+                ],
+                [
+                    0.09178534466325257,
+                    -0.7555124608052148,
+                    -0.648672777348562
+                ]
+            ],
+            "translation_vector": [
+                0.7597859737522004,
+                0.13965870228851474,
+                0.29723464743436556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9403382908051845,
+                    -0.2740871127866165,
+                    0.20159403128535608
+                ],
+                [
+                    -0.3300573618352683,
+                    0.59095745784373,
+                    -0.7360919921567001
+                ],
+                [
+                    0.08261983263071519,
+                    -0.7587130799077957,
+                    -0.6461643952067461
+                ]
+            ],
+            "translation_vector": [
+                0.7612865160906355,
+                0.1368918100058651,
+                0.299734339661279
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9427111359477691,
+                    -0.26590545100720514,
+                    0.2014696138000014
+                ],
+                [
+                    -0.3247693293834734,
+                    0.5933732422940073,
+                    -0.7365005621323765
+                ],
+                [
+                    0.07629283617664125,
+                    -0.7597384329189569,
+                    -0.6457374982870144
+                ]
+            ],
+            "translation_vector": [
+                0.7622618359225671,
+                0.13375425550180992,
+                0.30098370633382393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.944604657265281,
+                    -0.2582651574614826,
+                    0.20253678657008728
+                ],
+                [
+                    -0.32085008366498663,
+                    0.5966764555735279,
+                    -0.7355490678237471
+                ],
+                [
+                    0.06911776388825497,
+                    -0.7597870200296974,
+                    -0.6464877561945626
+                ]
+            ],
+            "translation_vector": [
+                0.7634350404015539,
+                0.13113126211440346,
+                0.3020431610150726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9475199699603425,
+                    -0.24304974991695427,
+                    0.20768419677880612
+                ],
+                [
+                    -0.31522689271483956,
+                    0.6020322468145474,
+                    -0.7336137811578892
+                ],
+                [
+                    0.053272062431436853,
+                    -0.7605813519017768,
+                    -0.6470533938583176
+                ]
+            ],
+            "translation_vector": [
+                0.766174512619669,
+                0.12654760964543776,
+                0.30469298588732857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9487524316113294,
+                    -0.2324962875886242,
+                    0.2140427521994081
+                ],
+                [
+                    -0.31344771468088695,
+                    0.6060690758789739,
+                    -0.7310477449691886
+                ],
+                [
+                    0.040241193731284146,
+                    -0.7606745371844087,
+                    -0.6478849394810525
+                ]
+            ],
+            "translation_vector": [
+                0.7692132114032855,
+                0.12328592845493064,
+                0.3069591604384341
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9497553919929178,
+                    -0.2227377328445912,
+                    0.21989224121744477
+                ],
+                [
+                    -0.31173918899006525,
+                    0.6103501817206118,
+                    -0.7282110502604539
+                ],
+                [
+                    0.027988808981372123,
+                    -0.7601714004360256,
+                    -0.6491194562874669
+                ]
+            ],
+            "translation_vector": [
+                0.7723189195177171,
+                0.11973209948588828,
+                0.3089823985164045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9504985993257635,
+                    -0.21263617603489415,
+                    0.22657949889833193
+                ],
+                [
+                    -0.3103678766692684,
+                    0.6145467731966668,
+                    -0.7252613630170675
+                ],
+                [
+                    0.01497310293731689,
+                    -0.7596829076626789,
+                    -0.6501212856026225
+                ]
+            ],
+            "translation_vector": [
+                0.7758111125348633,
+                0.11560107782156441,
+                0.31116643306268804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9508029120215636,
+                    -0.2022498112538077,
+                    0.23466750166802827
+                ],
+                [
+                    -0.30979002956679613,
+                    0.615850702410168,
+                    -0.7244018566527192
+                ],
+                [
+                    0.0019899930448257146,
+                    -0.7614610470593374,
+                    -0.6482076162303092
+                ]
+            ],
+            "translation_vector": [
+                0.7796971517819974,
+                0.1114630532721928,
+                0.3145272215608559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9509651265622556,
+                    -0.194238597536679,
+                    0.24070042644211853
+                ],
+                [
+                    -0.3091972634931924,
+                    0.6168816488968968,
+                    -0.7237776478329292
+                ],
+                [
+                    -0.00789812071033593,
+                    -0.7627112156519206,
+                    -0.6466909781402669
+                ]
+            ],
+            "translation_vector": [
+                0.7827641535881716,
+                0.10793410339885974,
+                0.3171599330439344
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9510911892536,
+                    -0.18561974741177753,
+                    0.24692277961938053
+                ],
+                [
+                    -0.3083566040489369,
+                    0.6183086299107826,
+                    -0.7229181439950576
+                ],
+                [
+                    -0.018486602272467817,
+                    -0.7637013470910208,
+                    -0.6453049651039273
+                ]
+            ],
+            "translation_vector": [
+                0.7865026525542944,
+                0.10330825788028433,
+                0.32021936687735075
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9506543530521829,
+                    -0.18120412323428942,
+                    0.2518359917601688
+                ],
+                [
+                    -0.3092080039678762,
+                    0.6198997844564919,
+                    -0.7211897583250867
+                ],
+                [
+                    -0.025430519167669204,
+                    -0.7634718874678279,
+                    -0.6453401938056977
+                ]
+            ],
+            "translation_vector": [
+                0.789269776779367,
+                0.10045589189153896,
+                0.32185699439249066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9503941509502085,
+                    -0.17587655175945374,
+                    0.25655096254123927
+                ],
+                [
+                    -0.3093398324266102,
+                    0.6207565850812129,
+                    -0.7203958149188457
+                ],
+                [
+                    -0.0325549675765297,
+                    -0.7640214006292726,
+                    -0.6443690506740496
+                ]
+            ],
+            "translation_vector": [
+                0.7920517559144733,
+                0.09734352337440329,
+                0.3240826095995798
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9504644710831944,
+                    -0.16955323810904782,
+                    0.26051677231088227
+                ],
+                [
+                    -0.30816182120420876,
+                    0.6236495650809796,
+                    -0.7183992705497486
+                ],
+                [
+                    -0.04066424917109459,
+                    -0.763094305719183,
+                    -0.6450065886627124
+                ]
+            ],
+            "translation_vector": [
+                0.794730773715138,
+                0.09357216058876291,
+                0.32591080711089626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.94962633751623,
+                    -0.16621722767610042,
+                    0.26567207666441456
+                ],
+                [
+                    -0.3096296221258467,
+                    0.6284797276449542,
+                    -0.7135423806905444
+                ],
+                [
+                    -0.04836647803713376,
+                    -0.7598585823447651,
+                    -0.6482866793628324
+                ]
+            ],
+            "translation_vector": [
+                0.7975701666991386,
+                0.09125547605157304,
+                0.3268012933450346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9481982909133289,
+                    -0.1651639874270811,
+                    0.27136849184499906
+                ],
+                [
+                    -0.31293164753798536,
+                    0.6327360804276269,
+                    -0.708321139381175
+                ],
+                [
+                    -0.05471549212247307,
+                    -0.756548683021966,
+                    -0.6516443087601739
+                ]
+            ],
+            "translation_vector": [
+                0.7998083875436021,
+                0.09032680692293453,
+                0.3268618069877855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9449424005462576,
+                    -0.1678974564652463,
+                    0.2808812983492791
+                ],
+                [
+                    -0.3213238814140549,
+                    0.6384993504401941,
+                    -0.6993350718507234
+                ],
+                [
+                    -0.06192594676613629,
+                    -0.7510852305830218,
+                    -0.6572945713431435
+                ]
+            ],
+            "translation_vector": [
+                0.8038562034303716,
+                0.08948660841141168,
+                0.32659871956885234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9431561791013152,
+                    -0.16925440946797188,
+                    0.2860233673996862
+                ],
+                [
+                    -0.3257506768161517,
+                    0.6414280235957823,
+                    -0.6945909494802159
+                ],
+                [
+                    -0.06590082227731926,
+                    -0.7482800514657979,
+                    -0.6601015423414163
+                ]
+            ],
+            "translation_vector": [
+                0.8058165289387992,
+                0.08952437016559747,
+                0.32648551786157665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9418667772659538,
+                    -0.16812481418248718,
+                    0.2908969245948663
+                ],
+                [
+                    -0.3283589651788882,
+                    0.6440393034746473,
+                    -0.6909368752400914
+                ],
+                [
+                    -0.07118541893742596,
+                    -0.7462891011102843,
+                    -0.6618045132021299
+                ]
+            ],
+            "translation_vector": [
+                0.8078172731120372,
+                0.08987149203636852,
+                0.3276131659668985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9429323680685755,
+                    -0.16315350733400907,
+                    0.2902748392355088
+                ],
+                [
+                    -0.32463160340646774,
+                    0.6444493816318289,
+                    -0.6923144636536925
+                ],
+                [
+                    -0.07411390772543891,
+                    -0.7470381031506798,
+                    -0.6606369662096576
+                ]
+            ],
+            "translation_vector": [
+                0.8079990850611104,
+                0.09003449451229993,
+                0.32968545087993306
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9464861207852658,
+                    -0.15691762643988583,
+                    0.28202993045655983
+                ],
+                [
+                    -0.31469183467436657,
+                    0.6426816673234738,
+                    -0.6985193795991645
+                ],
+                [
+                    -0.07164546287198277,
+                    -0.7498914141386025,
+                    -0.657669973961916
+                ]
+            ],
+            "translation_vector": [
+                0.8059873951291395,
+                0.09034900017533926,
+                0.3318440289912543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9533905337193753,
+                    -0.14765959594746245,
+                    0.2631409013036873
+                ],
+                [
+                    -0.29511287131359276,
+                    0.6380646931205655,
+                    -0.7111834085367893
+                ],
+                [
+                    -0.06288786368872482,
+                    -0.7556917963810319,
+                    -0.6519010856587658
+                ]
+            ],
+            "translation_vector": [
+                0.8011615331760441,
+                0.09128035553493222,
+                0.33496653682484867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.963211197343728,
+                    -0.132747211766347,
+                    0.23367149393951167
+                ],
+                [
+                    -0.2640312108352516,
+                    0.6295797175516903,
+                    -0.7306961741739212
+                ],
+                [
+                    -0.05011695338439414,
+                    -0.7655113043030749,
+                    -0.6414676406239618
+                ]
+            ],
+            "translation_vector": [
+                0.7932503549874038,
+                0.09268063340543645,
+                0.3397215854393658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9728093219732119,
+                    -0.11702430886892398,
+                    0.1998682921720474
+                ],
+                [
+                    -0.2288262976694787,
+                    0.618961711264766,
+                    -0.7513487375933178
+                ],
+                [
+                    -0.03578475341398024,
+                    -0.7766541773028353,
+                    -0.6289099619986612
+                ]
+            ],
+            "translation_vector": [
+                0.7843023303173869,
+                0.09497108916269417,
+                0.3452796480457243
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9786612580055186,
+                    -0.10863573631577235,
+                    0.17441450305001927
+                ],
+                [
+                    -0.20409878309444499,
+                    0.6121933616135646,
+                    -0.7639129366201688
+                ],
+                [
+                    -0.023787156585474655,
+                    -0.7832097833859158,
+                    -0.6213023470019768
+                ]
+            ],
+            "translation_vector": [
+                0.7778123083240549,
+                0.09942130622542192,
+                0.3494650883294464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9854745015754922,
+                    -0.09813454937814407,
+                    0.13859876248684186
+                ],
+                [
+                    -0.16968725621624767,
+                    0.601691653003432,
+                    -0.7804956052302922
+                ],
+                [
+                    -0.006800133994041475,
+                    -0.7926769612675438,
+                    -0.6096039642696861
+                ]
+            ],
+            "translation_vector": [
+                0.7688156412038986,
+                0.10575071830652963,
+                0.3555038846348289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9885384118762993,
+                    -0.09828803306432578,
+                    0.11459175712690059
+                ],
+                [
+                    -0.15067382361634296,
+                    0.5948356670068319,
+                    -0.7895998531746121
+                ],
+                [
+                    0.009444952192348194,
+                    -0.7978157630762155,
+                    -0.6028273393478443
+                ]
+            ],
+            "translation_vector": [
+                0.7636733594002677,
+                0.11012539510833123,
+                0.3587948577284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9903719296636402,
+                    -0.09806269913561494,
+                    0.09770950809699173
+                ],
+                [
+                    -0.1369945633298757,
+                    0.592820907646856,
+                    -0.7935967874650295
+                ],
+                [
+                    0.019898003728387213,
+                    -0.7993416531715312,
+                    -0.6005472428981998
+                ]
+            ],
+            "translation_vector": [
+                0.7595768409581519,
+                0.11455262582518812,
+                0.3607014718347782
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9913488267285036,
+                    -0.09915347223046822,
+                    0.0860005388858773
+                ],
+                [
+                    -0.1282981750818404,
+                    0.5937751787077029,
+                    -0.7943365882428589
+                ],
+                [
+                    0.02769624549806263,
+                    -0.7984983569771934,
+                    -0.6013595362925858
+                ]
+            ],
+            "translation_vector": [
+                0.7563626221654279,
+                0.11901110205068054,
+                0.3618231715041976
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9916548673003542,
+                    -0.10012542010993648,
+                    0.08121283400624495
+                ],
+                [
+                    -0.12506685829781963,
+                    0.5942573235795117,
+                    -0.7944913557287011
+                ],
+                [
+                    0.03128745938919092,
+                    -0.798018253939047,
+                    -0.6018205390854033
+                ]
+            ],
+            "translation_vector": [
+                0.7536317229467051,
+                0.12379937586909098,
+                0.3627403465904263
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9915679297262233,
+                    -0.10252671191231992,
+                    0.0792547417060953
+                ],
+                [
+                    -0.12504142684778394,
+                    0.5963997454853254,
+                    -0.7928883812724903
+                ],
+                [
+                    0.03402473086332987,
+                    -0.7961128167097223,
+                    -0.6041909472676588
+                ]
+            ],
+            "translation_vector": [
+                0.752036103233948,
+                0.12675598540187727,
+                0.36219600796329793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9918968213992632,
+                    -0.1051989066140513,
+                    0.0712312132793364
+                ],
+                [
+                    -0.12109708437940202,
+                    0.6133106459414699,
+                    -0.7805033937976602
+                ],
+                [
+                    0.03842124220852579,
+                    -0.7828047276441714,
+                    -0.6210801611105355
+                ]
+            ],
+            "translation_vector": [
+                0.7461714276475157,
+                0.13505025489907604,
+                0.35793552295076075
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.992254175064119,
+                    -0.10531459322926003,
+                    0.06588238399436143
+                ],
+                [
+                    -0.11761782456921596,
+                    0.6258258468437756,
+                    -0.7710434856516697
+                ],
+                [
+                    0.039971232298118296,
+                    -0.7728200604767107,
+                    -0.6333651827447916
+                ]
+            ],
+            "translation_vector": [
+                0.741754197365812,
+                0.139635289317961,
+                0.35431920683229684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.992361545981703,
+                    -0.10676812021237332,
+                    0.06179911458200884
+                ],
+                [
+                    -0.11590089987609828,
+                    0.6353185433794644,
+                    -0.7635033266765158
+                ],
+                [
+                    0.04225569150676257,
+                    -0.7648339146144815,
+                    -0.6428402131095826
+                ]
+            ],
+            "translation_vector": [
+                0.7378007830012726,
+                0.14326209125385836,
+                0.3506968343623189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9920756320005635,
+                    -0.11235019894188557,
+                    0.05624387245204469
+                ],
+                [
+                    -0.1162070622417197,
+                    0.6503080512808893,
+                    -0.7507298829302068
+                ],
+                [
+                    0.047768808608047005,
+                    -0.7513167582564438,
+                    -0.6582106575308523
+                ]
+            ],
+            "translation_vector": [
+                0.7302824677673091,
+                0.14953922271736425,
+                0.3427127189288397
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9920008680395268,
+                    -0.11450134585823964,
+                    0.053138682760088526
+                ],
+                [
+                    -0.11579639298854769,
+                    0.6578489336654462,
+                    -0.7441948507253173
+                ],
+                [
+                    0.05025408619870979,
+                    -0.7443952057018418,
+                    -0.665845556077718
+                ]
+            ],
+            "translation_vector": [
+                0.7261065410825182,
+                0.1511934850045621,
+                0.3373017301038015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9921994434635156,
+                    -0.1150199789703814,
+                    0.04806941676724189
+                ],
+                [
+                    -0.113048846518433,
+                    0.667683868174832,
+                    -0.735811260093202
+                ],
+                [
+                    0.052537821534029666,
+                    -0.7355057148770137,
+                    -0.6754784383618117
+                ]
+            ],
+            "translation_vector": [
+                0.7215181879101731,
+                0.1525492467382176,
+                0.3317059611800781
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.990811121835701,
+                    -0.12691771689566247,
+                    0.046746272414733794
+                ],
+                [
+                    -0.12056364000592008,
+                    0.6721303007267065,
+                    -0.7305513449125601
+                ],
+                [
+                    0.06130032263539007,
+                    -0.7294742983704224,
+                    -0.681255839212977
+                ]
+            ],
+            "translation_vector": [
+                0.7186577319481426,
+                0.15404558649258454,
+                0.32588211462038164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9904587672415367,
+                    -0.12978967308743475,
+                    0.04632570727179886
+                ],
+                [
+                    -0.12228135961043952,
+                    0.6726926739735427,
+                    -0.7297477889477623
+                ],
+                [
+                    0.06355076306542631,
+                    -0.7284498659085485,
+                    -0.6821452142847739
+                ]
+            ],
+            "translation_vector": [
+                0.7167907105356687,
+                0.15372983020734782,
+                0.32307369622395554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9904448889774139,
+                    -0.13122073021479155,
+                    0.042426900198049115
+                ],
+                [
+                    -0.12080116086925875,
+                    0.6770923893391341,
+                    -0.7259152676667312
+                ],
+                [
+                    0.06652820026994416,
+                    -0.7241042854871939,
+                    -0.6864743129265092
+                ]
+            ],
+            "translation_vector": [
+                0.7136758453217644,
+                0.15231252464441344,
+                0.31833842687177777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9896824782329011,
+                    -0.13736441987368914,
+                    0.040738291956686316
+                ],
+                [
+                    -0.12418119306925814,
+                    0.680544027834158,
+                    -0.7221072340498723
+                ],
+                [
+                    0.0714676399965677,
+                    -0.7197158066431683,
+                    -0.6905805775586912
+                ]
+            ],
+            "translation_vector": [
+                0.711972663059341,
+                0.1512083466339001,
+                0.3137507389754483
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9890087706741382,
+                    -0.14258770904113335,
+                    0.03912028578667851
+                ],
+                [
+                    -0.12703587699327504,
+                    0.684077028113926,
+                    -0.7182621426494431
+                ],
+                [
+                    0.07565406457144115,
+                    -0.7153372385366362,
+                    -0.694671935287874
+                ]
+            ],
+            "translation_vector": [
+                0.7107369768042905,
+                0.15001332335270684,
+                0.3096735821958335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9890888341740588,
+                    -0.1427327574866069,
+                    0.036477911843618885
+                ],
+                [
+                    -0.12604016097317533,
+                    0.6916736955543893,
+                    -0.7111268358738756
+                ],
+                [
+                    0.07627028211602094,
+                    -0.707965294925114,
+                    -0.7021167888945109
+                ]
+            ],
+            "translation_vector": [
+                0.7093031306119374,
+                0.14855523179104788,
+                0.30541653100069055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.988879166194174,
+                    -0.14394134491746716,
+                    0.037401656252981724
+                ],
+                [
+                    -0.12840498626720648,
+                    0.6994681736079025,
+                    -0.7030337357562182
+                ],
+                [
+                    0.07503435325791759,
+                    -0.7000179735785192,
+                    -0.7101722907141548
+                ]
+            ],
+            "translation_vector": [
+                0.7089593659389446,
+                0.1472447366147795,
+                0.30124013687629086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9884444309560623,
+                    -0.14587090605118652,
+                    0.04122239294063256
+                ],
+                [
+                    -0.13300790807689544,
+                    0.7041887011298376,
+                    -0.6974433092302775
+                ],
+                [
+                    0.07270834409443047,
+                    -0.6948668591671922,
+                    -0.7154533840371207
+                ]
+            ],
+            "translation_vector": [
+                0.7088868699886961,
+                0.1462172786897546,
+                0.2975217346600097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9875985979732246,
+                    -0.14924932536909283,
+                    0.04872010014554367
+                ],
+                [
+                    -0.14162419151045694,
+                    0.7129635020600676,
+                    -0.6867500514082644
+                ],
+                [
+                    0.06776132864938934,
+                    -0.685133332722263,
+                    -0.7252590700794819
+                ]
+            ],
+            "translation_vector": [
+                0.7091992943583063,
+                0.1456447293987688,
+                0.29163804464823956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9868918685372707,
+                    -0.15205419056897782,
+                    0.05407368070908302
+                ],
+                [
+                    -0.1481678259034689,
+                    0.7209111844237802,
+                    -0.6770032197410456
+                ],
+                [
+                    0.06395885538417807,
+                    -0.676140952245252,
+                    -0.7339909246815184
+                ]
+            ],
+            "translation_vector": [
+                0.7095495303326785,
+                0.14440377471870386,
+                0.28632734466880716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9866564198883043,
+                    -0.15240278562837437,
+                    0.057293106268612025
+                ],
+                [
+                    -0.15096441370453195,
+                    0.7245254491697317,
+                    -0.6725121703733292
+                ],
+                [
+                    0.060982414580283896,
+                    -0.6721876705490147,
+                    -0.737865082975098
+                ]
+            ],
+            "translation_vector": [
+                0.7097828068942262,
+                0.1432961076025266,
+                0.2837225825753805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9860827467956896,
+                    -0.15356933626684843,
+                    0.06369674583860445
+                ],
+                [
+                    -0.15642731162336823,
+                    0.7272240851282679,
+                    -0.668337958062865
+                ],
+                [
+                    0.056314408903527916,
+                    -0.6690004401851423,
+                    -0.7411255618192729
+                ]
+            ],
+            "translation_vector": [
+                0.7108343068972244,
+                0.14107438268656158,
+                0.2806528518498088
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9860248950137124,
+                    -0.15255524336070012,
+                    0.0669462779873203
+                ],
+                [
+                    -0.1579418769008378,
+                    0.7281526998039981,
+                    -0.6669692716229059
+                ],
+                [
+                    0.05300254648824498,
+                    -0.6682219268261905,
+                    -0.7420715508456415
+                ]
+            ],
+            "translation_vector": [
+                0.7112443153031416,
+                0.13962213282351693,
+                0.27934519997915114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9863310131090047,
+                    -0.1495051906973177,
+                    0.06927720067903324
+                ],
+                [
+                    -0.1573521757726935,
+                    0.7298257949611126,
+                    -0.6652778380413553
+                ],
+                [
+                    0.04890220198481607,
+                    -0.6670850822525857,
+                    -0.7433747827826134
+                ]
+            ],
+            "translation_vector": [
+                0.7113282185725179,
+                0.13806102133784362,
+                0.2781622454783193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9869907170832839,
+                    -0.14515289075366097,
+                    0.0691372742974542
+                ],
+                [
+                    -0.1541255651836129,
+                    0.7317991148557887,
+                    -0.6638639662258502
+                ],
+                [
+                    0.04576717763045407,
+                    -0.6658833935473543,
+                    -0.7446507044578703
+                ]
+            ],
+            "translation_vector": [
+                0.7110239463694431,
+                0.13537040624777613,
+                0.2766438687502974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9873450335708523,
+                    -0.14346376408484277,
+                    0.06758648590939587
+                ],
+                [
+                    -0.15188229256774702,
+                    0.7328209653715754,
+                    -0.6632534974775768
+                ],
+                [
+                    0.04562404944037408,
+                    -0.6651252371595001,
+                    -0.7453367460458268
+                ]
+            ],
+            "translation_vector": [
+                0.7106188337905698,
+                0.13393853104930092,
+                0.27564408587870637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.98754098674451,
+                    -0.14267319602339507,
+                    0.06638643412738914
+                ],
+                [
+                    -0.15052287766127692,
+                    0.7334270866407356,
+                    -0.6628933337138426
+                ],
+                [
+                    0.04588750156903866,
+                    -0.6646270139846512,
+                    -0.7457648888769157
+                ]
+            ],
+            "translation_vector": [
+                0.7103039646025151,
+                0.13297865473177536,
+                0.2748003861606404
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9882688564476885,
+                    -0.1366587100473102,
+                    0.06818404757554068
+                ],
+                [
+                    -0.1473729433432153,
+                    0.7361803653585994,
+                    -0.6605449910723998
+                ],
+                [
+                    0.040073469352376385,
+                    -0.6628445267396303,
+                    -0.7476839241453437
+                ]
+            ],
+            "translation_vector": [
+                0.7101160568941962,
+                0.13237222153545974,
+                0.2742712472657188
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9887796886213701,
+                    -0.13138667509757765,
+                    0.07107931468880886
+                ],
+                [
+                    -0.1455339066725404,
+                    0.7399793337085115,
+                    -0.6566966329234043
+                ],
+                [
+                    0.03368396322369811,
+                    -0.6596727425709747,
+                    -0.750797751282217
+                ]
+            ],
+            "translation_vector": [
+                0.71084704075046,
+                0.13174065847427907,
+                0.27400079426792845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9889114617668764,
+                    -0.12833138959428464,
+                    0.07473402993883935
+                ],
+                [
+                    -0.14575480122815412,
+                    0.7423096359313607,
+                    -0.6540121882062996
+                ],
+                [
+                    0.028454502368530088,
+                    -0.6576529927311597,
+                    -0.7527834233341676
+                ]
+            ],
+            "translation_vector": [
+                0.7119972292236135,
+                0.13107643848556744,
+                0.27392140757335687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9891672306317489,
+                    -0.12582281131254078,
+                    0.07560958932387972
+                ],
+                [
+                    -0.14445622569350888,
+                    0.7428226307889765,
+                    -0.6537177816505612
+                ],
+                [
+                    0.026088095037832784,
+                    -0.6575584835899796,
+                    -0.7529516929764778
+                ]
+            ],
+            "translation_vector": [
+                0.7127678047379774,
+                0.1299968901185503,
+                0.2742900047112103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9896684042519378,
+                    -0.12135107956004378,
+                    0.07635682756005202
+                ],
+                [
+                    -0.14157604784456537,
+                    0.7430277968932606,
+                    -0.65411460442392
+                ],
+                [
+                    0.022642268043129483,
+                    -0.6581668546300096,
+                    -0.7525315403119683
+                ]
+            ],
+            "translation_vector": [
+                0.7128890267995401,
+                0.12968632016286769,
+                0.2751375796064413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9905876963572253,
+                    -0.1145426678847384,
+                    0.07493992967392338
+                ],
+                [
+                    -0.13551494728574204,
+                    0.7435576827899234,
+                    -0.6547959005875212
+                ],
+                [
+                    0.01927990891650227,
+                    -0.6587882433665063,
+                    -0.7520813357039552
+                ]
+            ],
+            "translation_vector": [
+                0.712578484626443,
+                0.12947846963080595,
+                0.276585734972773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9916269164436203,
+                    -0.10787881845359062,
+                    0.0709804135911803
+                ],
+                [
+                    -0.1278855181426786,
+                    0.7440730032258286,
+                    -0.6557443557666933
+                ],
+                [
+                    0.017926316796720965,
+                    -0.6593311204543241,
+                    -0.7516389563923295
+                ]
+            ],
+            "translation_vector": [
+                0.7124423628356319,
+                0.1295426491997367,
+                0.2789546639136964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9923724176009548,
+                    -0.10398324618135624,
+                    0.06621532525347504
+                ],
+                [
+                    -0.12181145480796965,
+                    0.7445697696705942,
+                    -0.6563366724252458
+                ],
+                [
+                    0.018946088314002997,
+                    -0.659396195474516,
+                    -0.7515568528936
+                ]
+            ],
+            "translation_vector": [
+                0.7116636235885243,
+                0.13000702965648273,
+                0.28019913682553677
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.993048263755999,
+                    -0.10023975365210222,
+                    0.06170200676608414
+                ],
+                [
+                    -0.11604061557913849,
+                    0.7457835071993207,
+                    -0.6560042194418384
+                ],
+                [
+                    0.019741362344342976,
+                    -0.6586037899809316,
+                    -0.752230899681436
+                ]
+            ],
+            "translation_vector": [
+                0.7108047288417367,
+                0.13042759804257537,
+                0.28097784511114116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9939619738365305,
+                    -0.09514992847156717,
+                    0.05464508833228782
+                ],
+                [
+                    -0.1075823526029506,
+                    0.7471585274622682,
+                    -0.6558812180942747
+                ],
+                [
+                    0.021578507256116753,
+                    -0.6577998373002768,
+                    -0.7528836178801656
+                ]
+            ],
+            "translation_vector": [
+                0.70959883536587,
+                0.131121389859153,
+                0.28240315276452643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9943758843261794,
+                    -0.09204252939418302,
+                    0.05239058554024638
+                ],
+                [
+                    -0.10376263733739187,
+                    0.7476056407443459,
+                    -0.6559871347976465
+                ],
+                [
+                    0.021211217865030746,
+                    -0.6577339725983125,
+                    -0.7529515957395437
+                ]
+            ],
+            "translation_vector": [
+                0.7093714641115129,
+                0.1318588384442486,
+                0.28378729667526836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9948354608792571,
+                    -0.08816921795068577,
+                    0.05028513481258991
+                ],
+                [
+                    -0.09947358133232787,
+                    0.7483916043974954,
+                    -0.6557552996997154
+                ],
+                [
+                    0.020184459221802783,
+                    -0.6573706682483691,
+                    -0.7532970145517744
+                ]
+            ],
+            "translation_vector": [
+                0.7092808384535403,
+                0.13250630747150438,
+                0.2854124344919122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9955949501280031,
+                    -0.0821225589812092,
+                    0.045239148820432035
+                ],
+                [
+                    -0.09160766737940987,
+                    0.7492661613703298,
+                    -0.6559026259306141
+                ],
+                [
+                    0.019968238703570475,
+                    -0.6571575950498858,
+                    -0.7534886626295902
+                ]
+            ],
+            "translation_vector": [
+                0.7086541980209939,
+                0.1328038141848057,
+                0.2875415965298391
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9961297438185523,
+                    -0.07711698836890152,
+                    0.04217230827090164
+                ],
+                [
+                    -0.08579939542159253,
+                    0.7489954961475994,
+                    -0.6569963550096006
+                ],
+                [
+                    0.01907871131063241,
+                    -0.6580719693586123,
+                    -0.7527132826775436
+                ]
+            ],
+            "translation_vector": [
+                0.7085564240313137,
+                0.1329622150421303,
+                0.29003058423793093
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9967071117013814,
+                    -0.07099283739032321,
+                    0.03917844462407064
+                ],
+                [
+                    -0.07920556704189173,
+                    0.7489546050174053,
+                    -0.6578704110786522
+                ],
+                [
+                    0.017361210598994682,
+                    -0.6588072682222729,
+                    -0.7521114091037603
+                ]
+            ],
+            "translation_vector": [
+                0.7081413863600117,
+                0.13266302634609536,
+                0.29203731784577536
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9978182118867611,
+                    -0.05614215396978959,
+                    0.03474010038470115
+                ],
+                [
+                    -0.0650973822017013,
+                    0.7489099107151383,
+                    -0.6594666606153259
+                ],
+                [
+                    0.011006673320867128,
+                    -0.6602893336865864,
+                    -0.7509306552286513
+                ]
+            ],
+            "translation_vector": [
+                0.7074557295603043,
+                0.13175175948890516,
+                0.2964591039967501
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9984826506979233,
+                    -0.0428372290479408,
+                    0.03460300655641661
+                ],
+                [
+                    -0.05501619845477056,
+                    0.7489708343184049,
+                    -0.6603150060751144
+                ],
+                [
+                    0.00236942246854753,
+                    -0.6612168034373349,
+                    -0.75019112544023
+                ]
+            ],
+            "translation_vector": [
+                0.7076764775757217,
+                0.13123807288633438,
+                0.30065170260732815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9990592472223618,
+                    -0.02426634886405019,
+                    0.0359411303703145
+                ],
+                [
+                    -0.04198001249960295,
+                    0.7490391290188985,
+                    -0.6611944205369125
+                ],
+                [
+                    -0.010876538512822926,
+                    -0.6620812091514292,
+                    -0.7493531700063468
+                ]
+            ],
+            "translation_vector": [
+                0.7083055628908963,
+                0.13057557243981857,
+                0.3065543088742219
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9991116301693289,
+                    0.003000970850816271,
+                    0.042035040553548994
+                ],
+                [
+                    -0.02560548168426497,
+                    0.7489978135476584,
+                    -0.6620775140484264
+                ],
+                [
+                    -0.03347102878763559,
+                    -0.6625656718203713,
+                    -0.7482555851827085
+                ]
+            ],
+            "translation_vector": [
+                0.7098680835053973,
+                0.12981679247592456,
+                0.31533280802778496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9982563829245185,
+                    0.031841584837826904,
+                    0.049702187330874434
+                ],
+                [
+                    -0.00921045838137411,
+                    0.747683470792773,
+                    -0.663991411811688
+                ],
+                [
+                    -0.058304042800331135,
+                    -0.6632914449759542,
+                    -0.7460865215340973
+                ]
+            ],
+            "translation_vector": [
+                0.7116735515340579,
+                0.12877893414977326,
+                0.32499049403285607
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9961286024655482,
+                    0.06494299127843872,
+                    0.059247069411425074
+                ],
+                [
+                    0.009212026256143492,
+                    0.7473727860452961,
+                    -0.664341069971704
+                ],
+                [
+                    -0.08742394364411686,
+                    -0.6612233560323629,
+                    -0.7450776654248935
+                ]
+            ],
+            "translation_vector": [
+                0.7134738159542883,
+                0.12807171305487014,
+                0.3355163437942633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9907141832042962,
+                    0.11465113901372655,
+                    0.07307888560110867
+                ],
+                [
+                    0.03807542276527514,
+                    0.749951898603062,
+                    -0.6603956480496438
+                ],
+                [
+                    -0.13052076225294718,
+                    -0.6514808255846971,
+                    -0.7473533732555114
+                ]
+            ],
+            "translation_vector": [
+                0.7159974086067477,
+                0.12676303481263537,
+                0.3504021614242534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9841619262375553,
+                    0.15497346325854489,
+                    0.08607281005077923
+                ],
+                [
+                    0.06150976452439245,
+                    0.7539062846003832,
+                    -0.6540962183870204
+                ],
+                [
+                    -0.16625838869825152,
+                    -0.6384422759542943,
+                    -0.7514982424874743
+                ]
+            ],
+            "translation_vector": [
+                0.7177952507507539,
+                0.12607320830619315,
+                0.36151701337282083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9783272272400508,
+                    0.18340654085052852,
+                    0.0961138762824485
+                ],
+                [
+                    0.07845925281753119,
+                    0.7579059613796963,
+                    -0.6476285195638265
+                ],
+                [
+                    -0.19162458633512855,
+                    -0.6260515909079397,
+                    -0.7558699778622837
+                ]
+            ],
+            "translation_vector": [
+                0.719425751542323,
+                0.12612159245563842,
+                0.37044995767458744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9628786119661435,
+                    0.23926268152384142,
+                    0.1249725883871089
+                ],
+                [
+                    0.10670675248260064,
+                    0.7626450497048052,
+                    -0.6379546983410127
+                ],
+                [
+                    -0.24794847769802877,
+                    -0.6009375153797409,
+                    -0.7598655506183011
+                ]
+            ],
+            "translation_vector": [
+                0.7231168757313793,
+                0.12665823070807997,
+                0.38935920435255805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9495386085199141,
+                    0.2776630644601515,
+                    0.14587547280013727
+                ],
+                [
+                    0.12752517038907202,
+                    0.7666834883508351,
+                    -0.6292326752541016
+                ],
+                [
+                    -0.2865549892207497,
+                    -0.5788779243716186,
+                    -0.7634046023098783
+                ]
+            ],
+            "translation_vector": [
+                0.724948459395244,
+                0.12676776261091222,
+                0.40112485384980906
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.937172568148658,
+                    0.3086395974508864,
+                    0.16263202758068124
+                ],
+                [
+                    0.1465752781369872,
+                    0.7713803258964657,
+                    -0.6192641444964557
+                ],
+                [
+                    -0.3165805827095426,
+                    -0.5565195339835047,
+                    -0.7681554158801911
+                ]
+            ],
+            "translation_vector": [
+                0.7261528958311823,
+                0.12644420346162022,
+                0.40957921489223675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9203257452618098,
+                    0.345295779645229,
+                    0.18376982115540097
+                ],
+                [
+                    0.16950375991901684,
+                    0.7754736169649841,
+                    -0.6082015659011096
+                ],
+                [
+                    -0.3525180817796597,
+                    -0.5285938837618527,
+                    -0.7722172673982048
+                ]
+            ],
+            "translation_vector": [
+                0.7278111961476048,
+                0.12594427649847176,
+                0.42142513267502985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9069545111073107,
+                    0.370107302216967,
+                    0.2011320452533062
+                ],
+                [
+                    0.18366950824007017,
+                    0.7771748995405595,
+                    -0.6018842806279067
+                ],
+                [
+                    -0.37907654441411986,
+                    -0.508939839637064,
+                    -0.7728397072519307
+                ]
+            ],
+            "translation_vector": [
+                0.7290596198012363,
+                0.12573654105125803,
+                0.42961819026996284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8886456562759335,
+                    0.4014136183580894,
+                    0.22175663367435527
+                ],
+                [
+                    0.20331231079341228,
+                    0.7782858880124449,
+                    -0.5940834796562883
+                ],
+                [
+                    -0.41106325773749086,
+                    -0.48284385003575087,
+                    -0.7732327040554448
+                ]
+            ],
+            "translation_vector": [
+                0.7299827628542161,
+                0.12553017329792332,
+                0.43909291018815433
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8684996748196236,
+                    0.43114143369810615,
+                    0.2445922709059913
+                ],
+                [
+                    0.2195179140707575,
+                    0.7769472080491707,
+                    -0.5900550154914563
+                ],
+                [
+                    -0.44443244733056103,
+                    -0.4587702039729049,
+                    -0.7694216657376034
+                ]
+            ],
+            "translation_vector": [
+                0.7310517360560734,
+                0.12579684523001122,
+                0.4488281264052675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8531460374417941,
+                    0.4506256096157193,
+                    0.26282769784751814
+                ],
+                [
+                    0.22958007815962167,
+                    0.7767295341257293,
+                    -0.5865016781979826
+                ],
+                [
+                    -0.46843871158304895,
+                    -0.4400315792932246,
+                    -0.7661183868796807
+                ]
+            ],
+            "translation_vector": [
+                0.7321399401474695,
+                0.1267340175146875,
+                0.45627070496758737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8431530804566807,
+                    0.4604213002181547,
+                    0.2776780675923716
+                ],
+                [
+                    0.2340501530472794,
+                    0.7792382796228621,
+                    -0.5813847516309205
+                ],
+                [
+                    -0.4840593029525978,
+                    -0.42520575005028544,
+                    -0.7647788316560672
+                ]
+            ],
+            "translation_vector": [
+                0.7338645896625818,
+                0.1282735472475724,
+                0.461601755363608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8290309811804734,
+                    0.4713843983612983,
+                    0.3008394608832072
+                ],
+                [
+                    0.24238377468062494,
+                    0.7877243120421954,
+                    -0.5663395748040413
+                ],
+                [
+                    -0.5039421970965657,
+                    -0.39659444927937043,
+                    -0.7673037891124215
+                ]
+            ],
+            "translation_vector": [
+                0.7369745696170685,
+                0.1320142241109809,
+                0.46672078355104135
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8208814435959809,
+                    0.4783295534519479,
+                    0.3120168166208969
+                ],
+                [
+                    0.2498456094670765,
+                    0.7920737065870227,
+                    -0.5569527940171595
+                ],
+                [
+                    -0.5135472977144396,
+                    -0.3792361818549958,
+                    -0.7697071465058912
+                ]
+            ],
+            "translation_vector": [
+                0.7383193309933376,
+                0.13390218616601973,
+                0.46812879832512694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8117332238177929,
+                    0.4830078665968783,
+                    0.3283177944551667
+                ],
+                [
+                    0.25710252012803575,
+                    0.8002906435301615,
+                    -0.5416947295496729
+                ],
+                [
+                    -0.524392474673489,
+                    -0.35530027678516174,
+                    -0.7738050438076778
+                ]
+            ],
+            "translation_vector": [
+                0.7410530258920524,
+                0.13745380314372188,
+                0.4693661210907444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8019933285196034,
+                    0.48797800820318826,
+                    0.3445056814046716
+                ],
+                [
+                    0.2655108635935245,
+                    0.8078524200196451,
+                    -0.5261924066177927
+                ],
+                [
+                    -0.5350800709462733,
+                    -0.3305327986425142,
+                    -0.7774557136568481
+                ]
+            ],
+            "translation_vector": [
+                0.7436897201675192,
+                0.14116301671452053,
+                0.469118565615041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7948554022766313,
+                    0.4930903707824934,
+                    0.3536478131039949
+                ],
+                [
+                    0.2733293856156638,
+                    0.8112796734777085,
+                    -0.5168329888473324
+                ],
+                [
+                    -0.5417526524444699,
+                    -0.3141451537800421,
+                    -0.7796261193199567
+                ]
+            ],
+            "translation_vector": [
+                0.7450250172592056,
+                0.14324752779526306,
+                0.46815861979517925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.78585656598951,
+                    0.4969132619244006,
+                    0.3681123032646787
+                ],
+                [
+                    0.2839241199035656,
+                    0.818728812935654,
+                    -0.4990693589131281
+                ],
+                [
+                    -0.5493783321429417,
+                    -0.28768097085595884,
+                    -0.7844890739705767
+                ]
+            ],
+            "translation_vector": [
+                0.7475423867348068,
+                0.14729707782834411,
+                0.4654819319689164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7775712000739536,
+                    0.4980571256602952,
+                    0.38382564843240585
+                ],
+                [
+                    0.2898907880138759,
+                    0.8256198172813696,
+                    -0.4840612030900354
+                ],
+                [
+                    -0.5579841931813534,
+                    -0.26512453091195354,
+                    -0.7863603647619017
+                ]
+            ],
+            "translation_vector": [
+                0.7509851521440556,
+                0.15125554103966432,
+                0.4632124270635775
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7735449823532766,
+                    0.49677917635503094,
+                    0.39349537508855964
+                ],
+                [
+                    0.28878938256826714,
+                    0.8290106334933681,
+                    -0.4788967133639193
+                ],
+                [
+                    -0.5641177650029364,
+                    -0.2568108632728413,
+                    -0.7847415674686478
+                ]
+            ],
+            "translation_vector": [
+                0.7535471401433411,
+                0.15322815587994099,
+                0.462444982348233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7646835109299094,
+                    0.4976748970360872,
+                    0.4093639272970051
+                ],
+                [
+                    0.28906688010284476,
+                    0.8326723913511588,
+                    -0.47233148054004515
+                ],
+                [
+                    -0.5759335612199684,
+                    -0.24285054157169067,
+                    -0.7805921774645337
+                ]
+            ],
+            "translation_vector": [
+                0.7570844490951779,
+                0.15641460603619295,
+                0.46028776021418544
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7540722848484533,
+                    0.500319185029647,
+                    0.4255064069020614
+                ],
+                [
+                    0.2917280697320462,
+                    0.8355842719874814,
+                    -0.46550366028374596
+                ],
+                [
+                    -0.5884468731787493,
+                    -0.2268912459713256,
+                    -0.776048091259641
+                ]
+            ],
+            "translation_vector": [
+                0.7608545566595522,
+                0.1582631307287341,
+                0.4585117243710807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7484032971824637,
+                    0.49608730566494913,
+                    0.44021573111885576
+                ],
+                [
+                    0.28321004430215446,
+                    0.8392096842699934,
+                    -0.4642404297708567
+                ],
+                [
+                    -0.5997370887087015,
+                    -0.22276555161323666,
+                    -0.7685642025502241
+                ]
+            ],
+            "translation_vector": [
+                0.7657392379418112,
+                0.15889862901597296,
+                0.4574659138208843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7439527700986714,
+                    0.49408057192227506,
+                    0.44990961793617057
+                ],
+                [
+                    0.27711671301595187,
+                    0.8407728646758934,
+                    -0.4650885049019451
+                ],
+                [
+                    -0.6080629928138596,
+                    -0.2213264070861173,
+                    -0.7624132857555689
+                ]
+            ],
+            "translation_vector": [
+                0.7689175672287883,
+                0.1590314405139302,
+                0.4563025638262457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7330276972826828,
+                    0.4973185332349925,
+                    0.46405244479201224
+                ],
+                [
+                    0.2737211301485836,
+                    0.84022445672865,
+                    -0.4680807678437852
+                ],
+                [
+                    -0.6226934542185504,
+                    -0.2160952077581569,
+                    -0.7520343896773136
+                ]
+            ],
+            "translation_vector": [
+                0.77246022536088,
+                0.15916228060758575,
+                0.4542885099481293
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.729623425778836,
+                    0.49477493502321335,
+                    0.4720671776638686
+                ],
+                [
+                    0.2652032798983209,
+                    0.8410071118213855,
+                    -0.47156575172188303
+                ],
+                [
+                    -0.6303307678401303,
+                    -0.21887165540249098,
+                    -0.7448344256111187
+                ]
+            ],
+            "translation_vector": [
+                0.7755816452908845,
+                0.1581282803510495,
+                0.45377936170728966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7259747512257627,
+                    0.49446816168114427,
+                    0.47797687984500054
+                ],
+                [
+                    0.2582709652027889,
+                    0.8401673564604146,
+                    -0.4768804060469864
+                ],
+                [
+                    -0.6373827493083821,
+                    -0.22275558404221585,
+                    -0.7376470569737941
+                ]
+            ],
+            "translation_vector": [
+                0.7783685551144719,
+                0.15609363213250677,
+                0.4529446434351642
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7236489810868089,
+                    0.4969932527637496,
+                    0.4788839722514537
+                ],
+                [
+                    0.25304073133830746,
+                    0.836603060766648,
+                    -0.48586593521222576
+                ],
+                [
+                    -0.642107888485882,
+                    -0.23041923839641512,
+                    -0.7311664886474342
+                ]
+            ],
+            "translation_vector": [
+                0.7801479073079032,
+                0.15323385082993593,
+                0.451473149318618
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7210743701800993,
+                    0.5009203108632209,
+                    0.4786758765950797
+                ],
+                [
+                    0.25037175658576005,
+                    0.8325717353668814,
+                    -0.49410352050186945
+                ],
+                [
+                    -0.6460384943434366,
+                    -0.23643846479131664,
+                    -0.7257624378497358
+                ]
+            ],
+            "translation_vector": [
+                0.7806567943574961,
+                0.15088519168693165,
+                0.450305490581785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7173778944693904,
+                    0.5088440982857517,
+                    0.4758640984214135
+                ],
+                [
+                    0.2509113096949834,
+                    0.8259091410774022,
+                    -0.5048936574685176
+                ],
+                [
+                    -0.6499326666615648,
+                    -0.2427998647539755,
+                    -0.7201636997805703
+                ]
+            ],
+            "translation_vector": [
+                0.7809084762143341,
+                0.1463968820331331,
+                0.44814423430767053
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7139413484312268,
+                    0.5174708035505137,
+                    0.4717114779958057
+                ],
+                [
+                    0.2508963735743567,
+                    0.8179999200750676,
+                    -0.5176167892219302
+                ],
+                [
+                    -0.6537115271489701,
+                    -0.25119732926519944,
+                    -0.7138355139964617
+                ]
+            ],
+            "translation_vector": [
+                0.7807122955436863,
+                0.14168041186000965,
+                0.4469772870672674
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7107703702953845,
+                    0.5237274712583428,
+                    0.46959026454932423
+                ],
+                [
+                    0.24957963371508418,
+                    0.811907579000086,
+                    -0.5277462359855007
+                ],
+                [
+                    -0.6576590964510464,
+                    -0.2579062213510198,
+                    -0.7077915610147046
+                ]
+            ],
+            "translation_vector": [
+                0.7808415458516764,
+                0.13802138464459274,
+                0.44657689986509974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7045653895677979,
+                    0.5347594905511327,
+                    0.4664974802597226
+                ],
+                [
+                    0.25123340288600843,
+                    0.802764786405309,
+                    -0.5407869034859807
+                ],
+                [
+                    -0.6636786791041986,
+                    -0.26381998592436456,
+                    -0.6999497310017158
+                ]
+            ],
+            "translation_vector": [
+                0.7801050190224765,
+                0.13374169579473721,
+                0.4467453200596879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6961243246176417,
+                    0.5522197451047801,
+                    0.4587638584196054
+                ],
+                [
+                    0.2596281051290879,
+                    0.7894080034939431,
+                    -0.5562627536037141
+                ],
+                [
+                    -0.6693311375565246,
+                    -0.26812004239914383,
+                    -0.6928978793164042
+                ]
+            ],
+            "translation_vector": [
+                0.7783239224462768,
+                0.1272459485301093,
+                0.4465064665268517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6928609785324409,
+                    0.5600235354592571,
+                    0.4542216465105809
+                ],
+                [
+                    0.26381509571029865,
+                    0.7831293364934452,
+                    -0.5631252414860327
+                ],
+                [
+                    -0.6710776852961471,
+                    -0.27033697870445134,
+                    -0.6903424210075134
+                ]
+            ],
+            "translation_vector": [
+                0.7776316567073078,
+                0.12392353352756341,
+                0.44629894020239164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6848935827155569,
+                    0.5695974995375618,
+                    0.45440011980148715
+                ],
+                [
+                    0.26941577111081266,
+                    0.7773927776030237,
+                    -0.5683974064045525
+                ],
+                [
+                    -0.6770051127072931,
+                    -0.2668691774094811,
+                    -0.685889874190436
+                ]
+            ],
+            "translation_vector": [
+                0.7774877861786407,
+                0.12150982563820784,
+                0.44565266674166454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6734126808088604,
+                    0.5845577906163396,
+                    0.45255668236759883
+                ],
+                [
+                    0.2809191141918645,
+                    0.7685921787762356,
+                    -0.5747612669671276
+                ],
+                [
+                    -0.6838127028708096,
+                    -0.2599197032811157,
+                    -0.6817931762923232
+                ]
+            ],
+            "translation_vector": [
+                0.7764569827881614,
+                0.11816819041427162,
+                0.44473493148401255
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6671254425903167,
+                    0.5926310618713224,
+                    0.45136688885422616
+                ],
+                [
+                    0.2880579427218768,
+                    0.7639956488341875,
+                    -0.5773502145121879
+                ],
+                [
+                    -0.6869980098104465,
+                    -0.25514519996993523,
+                    -0.6803930198413177
+                ]
+            ],
+            "translation_vector": [
+                0.775977509422481,
+                0.11610598317219241,
+                0.44369474426020855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.657771683790709,
+                    0.6015349643451655,
+                    0.4533123632479006
+                ],
+                [
+                    0.2965094465266825,
+                    0.7600330534341647,
+                    -0.5783008782701106
+                ],
+                [
+                    -0.6924005777897476,
+                    -0.24597854450703907,
+                    -0.6782890206384169
+                ]
+            ],
+            "translation_vector": [
+                0.7756812118352319,
+                0.11538578655479258,
+                0.44193585336783925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6464065699345447,
+                    0.6114924204307788,
+                    0.4563283533829176
+                ],
+                [
+                    0.30722474038254943,
+                    0.7560486834741817,
+                    -0.5779302268560039
+                ],
+                [
+                    -0.6984064040673826,
+                    -0.23338253570621956,
+                    -0.6765804363008168
+                ]
+            ],
+            "translation_vector": [
+                0.7759214793917011,
+                0.11349878391759358,
+                0.43914942072006713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6399387403976283,
+                    0.6182718895022343,
+                    0.45630941168206735
+                ],
+                [
+                    0.31444929300421587,
+                    0.7525278847820815,
+                    -0.5786392872546378
+                ],
+                [
+                    -0.701141961850413,
+                    -0.22680752473571852,
+                    -0.6759869052398949
+                ]
+            ],
+            "translation_vector": [
+                0.7756176337527744,
+                0.1120427245500575,
+                0.43740990438477506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6319073335967623,
+                    0.6252587237802193,
+                    0.45797887514967545
+                ],
+                [
+                    0.3235327941370576,
+                    0.7497638825437626,
+                    -0.5772180277423528
+                ],
+                [
+                    -0.7042866269243643,
+                    -0.2165771196817309,
+                    -0.6760729978085701
+                ]
+            ],
+            "translation_vector": [
+                0.7753010446709394,
+                0.11198281203004631,
+                0.43485502509860213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6218789325197915,
+                    0.6318353646816399,
+                    0.4626560982259539
+                ],
+                [
+                    0.33230080260710604,
+                    0.7478725932058472,
+                    -0.5746849231694136
+                ],
+                [
+                    -0.7091140739505297,
+                    -0.20364345378425677,
+                    -0.6750456087229231
+                ]
+            ],
+            "translation_vector": [
+                0.775497619916309,
+                0.11245207225535775,
+                0.43225439179472785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6139048998882792,
+                    0.6377525342156298,
+                    0.46518005008244295
+                ],
+                [
+                    0.33939885027072664,
+                    0.7452987122916285,
+                    -0.5738799960717829
+                ],
+                [
+                    -0.712691514140635,
+                    -0.19442616736947382,
+                    -0.6739950082262826
+                ]
+            ],
+            "translation_vector": [
+                0.7754087969260234,
+                0.11243570562469586,
+                0.43019873978547857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6051269970958779,
+                    0.6435886589185587,
+                    0.4686309374093184
+                ],
+                [
+                    0.3457654660553079,
+                    0.7426794767800158,
+                    -0.5734748793568191
+                ],
+                [
+                    -0.7171245079268183,
+                    -0.18498873717384412,
+                    -0.6719461341875147
+                ]
+            ],
+            "translation_vector": [
+                0.7753147523441819,
+                0.11282010876731312,
+                0.4282237428259534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5946024965213967,
+                    0.6496550369605314,
+                    0.4737047646818991
+                ],
+                [
+                    0.35308462665034934,
+                    0.7403057129323686,
+                    -0.5720827718284139
+                ],
+                [
+                    -0.7223427978139645,
+                    -0.17290397436585553,
+                    -0.669570831275367
+                ]
+            ],
+            "translation_vector": [
+                0.7752635651029683,
+                0.11408247874027501,
+                0.4251685206495147
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5898189737293597,
+                    0.6531255699906018,
+                    0.4749111159504446
+                ],
+                [
+                    0.3584876452679815,
+                    0.7387447025261429,
+                    -0.5707388830978475
+                ],
+                [
+                    -0.7236022294182507,
+                    -0.16638285462754918,
+                    -0.6698630899422098
+                ]
+            ],
+            "translation_vector": [
+                0.7749438291089455,
+                0.11477160230676821,
+                0.42319108522305904
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5880289133226876,
+                    0.6528729731176448,
+                    0.47747133743196163
+                ],
+                [
+                    0.36094562852187007,
+                    0.7400874404169284,
+                    -0.5674405993476954
+                ],
+                [
+                    -0.723837171156256,
+                    -0.16133028701904267,
+                    -0.6708444589790262
+                ]
+            ],
+            "translation_vector": [
+                0.7755051327004339,
+                0.11542211844918879,
+                0.42085261383788275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5847157896410253,
+                    0.6524198705576987,
+                    0.48213665889034885
+                ],
+                [
+                    0.3639983244061069,
+                    0.7421328131379489,
+                    -0.562800237645207
+                ],
+                [
+                    -0.724991493173554,
+                    -0.15358124939402815,
+                    -0.6714165135447224
+                ]
+            ],
+            "translation_vector": [
+                0.7763704226352695,
+                0.1167042643402023,
+                0.41746085302957825
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5779311802254404,
+                    0.65547961976957,
+                    0.4861502020877597
+                ],
+                [
+                    0.37118300155812856,
+                    0.7416562605201757,
+                    -0.558721013194893
+                ],
+                [
+                    -0.7267865782177928,
+                    -0.14245160335345294,
+                    -0.6719291706902618
+                ]
+            ],
+            "translation_vector": [
+                0.7766501256299281,
+                0.1177268916382872,
+                0.4148812084299431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5665788867962993,
+                    0.6606035254052816,
+                    0.49253563044594084
+                ],
+                [
+                    0.38235126211741016,
+                    0.7402539895059151,
+                    -0.5530203824252776
+                ],
+                [
+                    -0.7299286796625339,
+                    -0.12500805271137777,
+                    -0.6719948730187008
+                ]
+            ],
+            "translation_vector": [
+                0.7771430535436764,
+                0.11891853223886799,
+                0.411936159616216
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5624520419941372,
+                    0.6595372879355799,
+                    0.4986564611826518
+                ],
+                [
+                    0.38702328117357937,
+                    0.7429507968661023,
+                    -0.5461108800103327
+                ],
+                [
+                    -0.7306577039122093,
+                    -0.11416951983171131,
+                    -0.6731304780316626
+                ]
+            ],
+            "translation_vector": [
+                0.7784064195408815,
+                0.1205152990349511,
+                0.4093299005531161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5602211344021006,
+                    0.6577378779396876,
+                    0.5035207686805189
+                ],
+                [
+                    0.38791363027384834,
+                    0.7454088018606962,
+                    -0.5421150556444325
+                ],
+                [
+                    -0.7318984191928467,
+                    -0.10838174215244312,
+                    -0.6727392525719114
+                ]
+            ],
+            "translation_vector": [
+                0.7793121026174286,
+                0.12203699010361464,
+                0.40723985325357015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5560227260756752,
+                    0.6567771206680815,
+                    0.5093942891850278
+                ],
+                [
+                    0.38865002426360645,
+                    0.7471821665318682,
+                    -0.5391381721383138
+                ],
+                [
+                    -0.734703944951484,
+                    -0.1017969733522981,
+                    -0.6707067089936096
+                ]
+            ],
+            "translation_vector": [
+                0.7802526065754737,
+                0.12333094616205482,
+                0.40539496135950237
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5478021766584916,
+                    0.6560199169802557,
+                    0.5191826689840847
+                ],
+                [
+                    0.39185999853742276,
+                    0.7494959734345932,
+                    -0.5335742941255541
+                ],
+                [
+                    -0.7391606840156411,
+                    -0.08884623982223813,
+                    -0.6676434893526483
+                ]
+            ],
+            "translation_vector": [
+                0.781932834298212,
+                0.12506413580748021,
+                0.4028723086971676
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5451063965944282,
+                    0.6524810269363417,
+                    0.5264290321400741
+                ],
+                [
+                    0.39291200012354754,
+                    0.7535191232166435,
+                    -0.5270949545439932
+                ],
+                [
+                    -0.7405937999678037,
+                    -0.08048254739332027,
+                    -0.6671157193578418
+                ]
+            ],
+            "translation_vector": [
+                0.7838679142116306,
+                0.1257418929578319,
+                0.40099289467692406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5453315193372362,
+                    0.6499728071804478,
+                    0.5292909256196545
+                ],
+                [
+                    0.39148735020466996,
+                    0.7558408488617666,
+                    -0.5248259385945505
+                ],
+                [
+                    -0.7411822911046028,
+                    -0.07899342452314174,
+                    -0.6666399704750978
+                ]
+            ],
+            "translation_vector": [
+                0.7848092613449129,
+                0.12586463041742302,
+                0.4000688544959602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5414956215120559,
+                    0.649116208583487,
+                    0.5342570913310106
+                ],
+                [
+                    0.39160466022062773,
+                    0.7570859926168597,
+                    -0.5229403310864743
+                ],
+                [
+                    -0.7439276053331798,
+                    -0.07395233287424931,
+                    -0.6641556824161765
+                ]
+            ],
+            "translation_vector": [
+                0.7859401885418659,
+                0.12599657660771824,
+                0.3988713797927529
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5371553808121486,
+                    0.6491374356280023,
+                    0.5385951044438275
+                ],
+                [
+                    0.3921467794707231,
+                    0.7575230713511043,
+                    -0.5219000859566232
+                ],
+                [
+                    -0.7467831011848729,
+                    -0.06913310377157837,
+                    -0.6614647486809957
+                ]
+            ],
+            "translation_vector": [
+                0.7868662100576237,
+                0.12595967137397035,
+                0.3986269262960989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5349703603600295,
+                    0.6462392290284816,
+                    0.544225663122325
+                ],
+                [
+                    0.38954429892242115,
+                    0.7602661554763396,
+                    -0.5198563378610156
+                ],
+                [
+                    -0.7497079115984437,
+                    -0.06610772800437689,
+                    -0.6584586665727772
+                ]
+            ],
+            "translation_vector": [
+                0.7887007123796296,
+                0.12524814043032212,
+                0.3986555618901942
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5351879858765615,
+                    0.6439860921362038,
+                    0.5466769913838803
+                ],
+                [
+                    0.386959403874524,
+                    0.7621655854496048,
+                    -0.5190048555739484
+                ],
+                [
+                    -0.7508902979307052,
+                    -0.06622336061695255,
+                    -0.6570983388977139
+                ]
+            ],
+            "translation_vector": [
+                0.7896757636311283,
+                0.12463105451500134,
+                0.3980054491315298
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5337149879990644,
+                    0.6433498023328474,
+                    0.5488618618773263
+                ],
+                [
+                    0.3867046493959953,
+                    0.7628669580511996,
+                    -0.5181636020112085
+                ],
+                [
+                    -0.7520690298906606,
+                    -0.0643042467648595,
+                    -0.6559398891112852
+                ]
+            ],
+            "translation_vector": [
+                0.7903110054040565,
+                0.12426361131431325,
+                0.39721786544727095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5289699941797623,
+                    0.6439665466142807,
+                    0.5527185830955389
+                ],
+                [
+                    0.38769552083322384,
+                    0.7627350584799787,
+                    -0.5176170531303999
+                ],
+                [
+                    -0.7549059069733907,
+                    -0.05951737063430683,
+                    -0.6531269051336509
+                ]
+            ],
+            "translation_vector": [
+                0.7911308612676876,
+                0.12378812873636762,
+                0.3966416902904052
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5215191199314202,
+                    0.6449230502837875,
+                    0.5586520086409897
+                ],
+                [
+                    0.3894484159510586,
+                    0.7624840852498203,
+                    -0.5166700601485986
+                ],
+                [
+                    -0.7591756969629416,
+                    -0.051887175230500564,
+                    -0.6488142894445462
+                ]
+            ],
+            "translation_vector": [
+                0.7924388619484114,
+                0.12284517552872272,
+                0.39603205448959883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5236958032272682,
+                    0.6419233908917723,
+                    0.5600688046197142
+                ],
+                [
+                    0.3874667122862043,
+                    0.7649748658039439,
+                    -0.5144735188115691
+                ],
+                [
+                    -0.7586911443744855,
+                    -0.05241960429311867,
+                    -0.6493380726043152
+                ]
+            ],
+            "translation_vector": [
+                0.793295107185493,
+                0.12241698000487326,
+                0.39548469048997875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5261852474470131,
+                    0.6399802639303026,
+                    0.5599592370421492
+                ],
+                [
+                    0.3855435444236926,
+                    0.7664621886568458,
+                    -0.5137040867197517
+                ],
+                [
+                    -0.7579480593829248,
+                    -0.05441484300315745,
+                    -0.6500413557140808
+                ]
+            ],
+            "translation_vector": [
+                0.7935716289741299,
+                0.12226233872541711,
+                0.395019892741283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5270666201255682,
+                    0.6385773058671317,
+                    0.5607314886653733
+                ],
+                [
+                    0.38304444698677226,
+                    0.767507669142766,
+                    -0.5140125771220355
+                ],
+                [
+                    -0.7586024845609245,
+                    -0.056133788741846755,
+                    -0.6491311640797089
+                ]
+            ],
+            "translation_vector": [
+                0.7939520750351557,
+                0.12193371537911715,
+                0.39473463009441506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5286836635405464,
+                    0.6372088049107385,
+                    0.5607660143496346
+                ],
+                [
+                    0.38044355463962787,
+                    0.7684537229096585,
+                    -0.5145304436857456
+                ],
+                [
+                    -0.7587860605193736,
+                    -0.05868402415065133,
+                    -0.6486909122771609
+                ]
+            ],
+            "translation_vector": [
+                0.7941778072160959,
+                0.121628295793759,
+                0.3947812523896258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5306423889227776,
+                    0.6365136990065926,
+                    0.559704355937376
+                ],
+                [
+                    0.37821357615309587,
+                    0.7687723311474366,
+                    -0.5156971918438407
+                ],
+                [
+                    -0.7585335496151865,
+                    -0.061963003793243494,
+                    -0.648681308709527
+                ]
+            ],
+            "translation_vector": [
+                0.794013061456646,
+                0.12142756250282832,
+                0.3945240328798078
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5338423197599408,
+                    0.6360852968304896,
+                    0.5571425964592845
+                ],
+                [
+                    0.3762235382885141,
+                    0.7687491185922528,
+                    -0.5171853071204805
+                ],
+                [
+                    -0.7572768495543728,
+                    -0.0664852451277931,
+                    -0.6497010738095647
+                ]
+            ],
+            "translation_vector": [
+                0.7934973182199127,
+                0.12125123878671053,
+                0.3941342206656688
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5350171879834227,
+                    0.6362505831069026,
+                    0.5558253359270678
+                ],
+                [
+                    0.37466605232521094,
+                    0.7683574322187424,
+                    -0.518895177843525
+                ],
+                [
+                    -0.7572198873493442,
+                    -0.06936895451387207,
+                    -0.6494659270141118
+                ]
+            ],
+            "translation_vector": [
+                0.7931948264030156,
+                0.120950008398599,
+                0.39417231387344104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5374536260491609,
+                    0.6355996615742772,
+                    0.554217168674224
+                ],
+                [
+                    0.37218267034497066,
+                    0.7685174357057483,
+                    -0.5204430909438115
+                ],
+                [
+                    -0.7567190097661718,
+                    -0.07344400059178308,
+                    -0.6496016618171314
+                ]
+            ],
+            "translation_vector": [
+                0.7930056571370336,
+                0.12041519469736717,
+                0.39421050418912545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5404946223356066,
+                    0.634708123330121,
+                    0.5522781558282442
+                ],
+                [
+                    0.3684359693018334,
+                    0.7686911842560086,
+                    -0.5228468224745316
+                ],
+                [
+                    -0.756386475124264,
+                    -0.07911675818593583,
+                    -0.6493227539700422
+                ]
+            ],
+            "translation_vector": [
+                0.7927591871219639,
+                0.11975174719371788,
+                0.3943816800457993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.54083422745892,
+                    0.6349764266338406,
+                    0.5516369059700702
+                ],
+                [
+                    0.3669752245692517,
+                    0.7682476819966376,
+                    -0.524523291817571
+                ],
+                [
+                    -0.7568536998398437,
+                    -0.08124307186531193,
+                    -0.6485152583498922
+                ]
+            ],
+            "translation_vector": [
+                0.7925793935515425,
+                0.1193879703359583,
+                0.3944413754787575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5411644765801923,
+                    0.6349679727184774,
+                    0.5513226667836846
+                ],
+                [
+                    0.3661928820633063,
+                    0.7681372210860368,
+                    -0.5252313611242105
+                ],
+                [
+                    -0.7569965537661687,
+                    -0.08234611832994017,
+                    -0.6482093291384625
+                ]
+            ],
+            "translation_vector": [
+                0.7924765604461517,
+                0.1192079708388081,
+                0.39419231770580326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5409808014712163,
+                    0.635019988359314,
+                    0.5514430041479331
+                ],
+                [
+                    0.3661766155376536,
+                    0.7681049218073369,
+                    -0.5252899345397115
+                ],
+                [
+                    -0.7571356936989234,
+                    -0.08224623687124934,
+                    -0.648059486349493
+                ]
+            ],
+            "translation_vector": [
+                0.7923869437398326,
+                0.11928503340956365,
+                0.39365408198931184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5408530818667564,
+                    0.6350855525217449,
+                    0.5514927785686606
+                ],
+                [
+                    0.3664072054991761,
+                    0.7680806750482365,
+                    -0.5251645802752982
+                ],
+                [
+                    -0.7571153832762324,
+                    -0.08196595388083776,
+                    -0.6481187227745302
+                ]
+            ],
+            "translation_vector": [
+                0.7923019776619911,
+                0.1194172295934122,
+                0.39324765257360955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5415730823333551,
+                    0.6344896486301774,
+                    0.5514721047098425
+                ],
+                [
+                    0.3661761085565593,
+                    0.7685484830419101,
+                    -0.5246411027896631
+                ],
+                [
+                    -0.7567123984806409,
+                    -0.08219558987642298,
+                    -0.6485601213384485
+                ]
+            ],
+            "translation_vector": [
+                0.7922774982838238,
+                0.11962031285724253,
+                0.39275453420950257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5417704487058536,
+                    0.6345357484809179,
+                    0.5512251489262988
+                ],
+                [
+                    0.36635076013008755,
+                    0.7685031900425375,
+                    -0.5245855196691491
+                ],
+                [
+                    -0.7564865507470478,
+                    -0.08226318006377797,
+                    -0.6488149718869235
+                ]
+            ],
+            "translation_vector": [
+                0.792154983758839,
+                0.11957390771694924,
+                0.39220094110393466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5415380013912529,
+                    0.6349750015812228,
+                    0.5509476748440757
+                ],
+                [
+                    0.3670474430191726,
+                    0.7681846484905492,
+                    -0.5245650773703282
+                ],
+                [
+                    -0.7563152567694602,
+                    -0.0818479883098991,
+                    -0.6490671299544971
+                ]
+            ],
+            "translation_vector": [
+                0.7919629134615692,
+                0.11950225886228281,
+                0.39153348712593916
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5423614441929893,
+                    0.6345793549989004,
+                    0.5505934126577205
+                ],
+                [
+                    0.3671425251391781,
+                    0.7684866080123265,
+                    -0.5240560080183578
+                ],
+                [
+                    -0.7556787876388508,
+                    -0.08208151749869629,
+                    -0.6497785733600242
+                ]
+            ],
+            "translation_vector": [
+                0.7918493717280457,
+                0.11947709527119346,
+                0.39076110821031473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5431138645104393,
+                    0.6341443496037075,
+                    0.5503528632088938
+                ],
+                [
+                    0.3673652929228366,
+                    0.7688468900405164,
+                    -0.523370997697374
+                ],
+                [
+                    -0.7550298482392964,
+                    -0.0820695043284479,
+                    -0.6505340304142655
+                ]
+            ],
+            "translation_vector": [
+                0.7917465166295232,
+                0.11953399127010084,
+                0.3899402257599212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5434205373157752,
+                    0.6336704211086628,
+                    0.5505959653279381
+                ],
+                [
+                    0.36720265436520294,
+                    0.7692479469359916,
+                    -0.5228955983386276
+                ],
+                [
+                    -0.7548882899148611,
+                    -0.08197190705804082,
+                    -0.6507105932768307
+                ]
+            ],
+            "translation_vector": [
+                0.791794491607961,
+                0.11962398177110888,
+                0.389595395973502
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5433710297994803,
+                    0.6333296452932596,
+                    0.5510367359508499
+                ],
+                [
+                    0.36720847874855905,
+                    0.7695770151996578,
+                    -0.5224070738529054
+                ],
+                [
+                    -0.7549210933003672,
+                    -0.08151550815090344,
+                    -0.6507298708535506
+                ]
+            ],
+            "translation_vector": [
+                0.7918314147786254,
+                0.11981651212555341,
+                0.3892212736608339
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5431278445676602,
+                    0.6330871550621413,
+                    0.5515548916931231
+                ],
+                [
+                    0.3674277648413401,
+                    0.7698549982799376,
+                    -0.5218430024893456
+                ],
+                [
+                    -0.7549893920307655,
+                    -0.08077088410264274,
+                    -0.6507434841796674
+                ]
+            ],
+            "translation_vector": [
+                0.7918377321309874,
+                0.12006090639328044,
+                0.3887036659367268
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.542866057121965,
+                    0.6330691292009246,
+                    0.5518332371990973
+                ],
+                [
+                    0.3676332110117252,
+                    0.7699203615238026,
+                    -0.521601820426526
+                ],
+                [
+                    -0.7550776557322169,
+                    -0.0802876987080883,
+                    -0.650700867718877
+                ]
+            ],
+            "translation_vector": [
+                0.7918571876828617,
+                0.12005695640000033,
+                0.3884099100479807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5409911439868851,
+                    0.6337428201740172,
+                    0.5529001899128316
+                ],
+                [
+                    0.36883237487676146,
+                    0.7695955703269753,
+                    -0.5212344360994067
+                ],
+                [
+                    -0.7558381184953098,
+                    -0.07805572375541489,
+                    -0.6500892574243087
+                ]
+            ],
+            "translation_vector": [
+                0.7919810683026932,
+                0.11987889922403842,
+                0.3879683628489821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5399477794247425,
+                    0.6341850814341283,
+                    0.5534127555276243
+                ],
+                [
+                    0.37053070307355357,
+                    0.7694521470980318,
+                    -0.5202407052567566
+                ],
+                [
+                    -0.7557535270007729,
+                    -0.07584639617422438,
+                    -0.650449022301729
+                ]
+            ],
+            "translation_vector": [
+                0.7921038984000913,
+                0.11957335907383486,
+                0.38735524108994196
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5393230829262726,
+                    0.6346382059869321,
+                    0.5535024478036115
+                ],
+                [
+                    0.371449070500579,
+                    0.7691764066285223,
+                    -0.5199935033346961
+                ],
+                [
+                    -0.7557487679428639,
+                    -0.07484652956365459,
+                    -0.6505703626550476
+                ]
+            ],
+            "translation_vector": [
+                0.7920981423434122,
+                0.11935565745204474,
+                0.3870049232236105
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5373488248898084,
+                    0.6352041324591489,
+                    0.5547719806338115
+                ],
+                [
+                    0.372498161384428,
+                    0.7689282982674651,
+                    -0.5196098458350465
+                ],
+                [
+                    -0.7566381963361104,
+                    -0.07256019728694445,
+                    -0.6497950889433662
+                ]
+            ],
+            "translation_vector": [
+                0.7922725479256584,
+                0.11922560871462032,
+                0.3866432480607859
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.536015488753344,
+                    0.6343180922187477,
+                    0.5570708695493619
+                ],
+                [
+                    0.3725841513192207,
+                    0.7698807048034535,
+                    -0.5181358417993049
+                ],
+                [
+                    -0.7575410523544253,
+                    -0.07017305932697047,
+                    -0.6490048503227414
+                ]
+            ],
+            "translation_vector": [
+                0.792822918471486,
+                0.11935394776393189,
+                0.386360542985696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5355605398107197,
+                    0.6335400495161637,
+                    0.5583922580558472
+                ],
+                [
+                    0.3723003905033714,
+                    0.7706156232353308,
+                    -0.5172465374042251
+                ],
+                [
+                    -0.758002194870627,
+                    -0.06912717905918109,
+                    -0.6485785270008809
+                ]
+            ],
+            "translation_vector": [
+                0.7931719382107938,
+                0.11945497390319461,
+                0.38624264027286703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.533617996120965,
+                    0.6341773678670688,
+                    0.5595273901258473
+                ],
+                [
+                    0.373256360468082,
+                    0.7702731704019317,
+                    -0.5170676283902117
+                ],
+                [
+                    -0.7589015243007269,
+                    -0.06706943450002625,
+                    -0.6477423618769115
+                ]
+            ],
+            "translation_vector": [
+                0.793266899475454,
+                0.11958806069640317,
+                0.3860868356419306
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5312137997573053,
+                    0.6342008954555832,
+                    0.5617838758372671
+                ],
+                [
+                    0.37378885337185075,
+                    0.7704891488791259,
+                    -0.5163606923018802
+                ],
+                [
+                    -0.7603247937837897,
+                    -0.06430937461098818,
+                    -0.6463516939675963
+                ]
+            ],
+            "translation_vector": [
+                0.7937935621046776,
+                0.11954261964893247,
+                0.3862608373786138
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5296392876272787,
+                    0.6339201527853526,
+                    0.5635844789330738
+                ],
+                [
+                    0.3740128862825821,
+                    0.7708853645895981,
+                    -0.515606551118326
+                ],
+                [
+                    -0.761312410181419,
+                    -0.06229762880044414,
+                    -0.6453854813594749
+                ]
+            ],
+            "translation_vector": [
+                0.7942815873974042,
+                0.11941687931591376,
+                0.38637150802410664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5285125087102196,
+                    0.634250865496423,
+                    0.5642697650537983
+                ],
+                [
+                    0.37421577572638215,
+                    0.7706831124064376,
+                    -0.5157616634154086
+                ],
+                [
+                    -0.761995460179608,
+                    -0.06142784277968298,
+                    -0.6446623447953997
+                ]
+            ],
+            "translation_vector": [
+                0.7944449244044548,
+                0.11919600725603656,
+                0.38649659990770396
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5273912943606431,
+                    0.6344649758580919,
+                    0.5650775318856668
+                ],
+                [
+                    0.3738192448363837,
+                    0.7705378907161016,
+                    -0.5162659500303477
+                ],
+                [
+                    -0.7629663130326014,
+                    -0.06103731137732462,
+                    -0.6435501936890909
+                ]
+            ],
+            "translation_vector": [
+                0.7946844607493968,
+                0.11876405135755043,
+                0.38674463754090094
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5267663249491081,
+                    0.6340171292336817,
+                    0.5661620958152286
+                ],
+                [
+                    0.3711031214337684,
+                    0.7707735860984255,
+                    -0.517871173396519
+                ],
+                [
+                    -0.764721983574243,
+                    -0.06269257381265118,
+                    -0.6413033050180086
+                ]
+            ],
+            "translation_vector": [
+                0.795022483095112,
+                0.11833323404149015,
+                0.38758166435539176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.52632731208778,
+                    0.6334762422109793,
+                    0.567174938713541
+                ],
+                [
+                    0.36844269950055447,
+                    0.771081155871638,
+                    -0.5193109167390987
+                ],
+                [
+                    -0.7663090353996854,
+                    -0.06435605343645236,
+                    -0.639240768921138
+                ]
+            ],
+            "translation_vector": [
+                0.7953636327162044,
+                0.11796877284404385,
+                0.3884433040202169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5254675966227029,
+                    0.6334930974733705,
+                    0.5679527272169358
+                ],
+                [
+                    0.36595871532384183,
+                    0.7709215438443818,
+                    -0.5213004814069505
+                ],
+                [
+                    -0.7680872499775554,
+                    -0.06607926066618619,
+                    -0.6369266109464472
+                ]
+            ],
+            "translation_vector": [
+                0.7956376104412854,
+                0.11769483722337508,
+                0.38978708677088203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5247007181666462,
+                    0.6341449067872024,
+                    0.5679343215119654
+                ],
+                [
+                    0.363939465875355,
+                    0.770207193207841,
+                    -0.5237642071669857
+                ],
+                [
+                    -0.7695695040305114,
+                    -0.06812574202715473,
+                    -0.6349186260769822
+                ]
+            ],
+            "translation_vector": [
+                0.7956098937910492,
+                0.11740241307809295,
+                0.3908844964054468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5249234237645691,
+                    0.6343674326796331,
+                    0.5674798318343427
+                ],
+                [
+                    0.3606520448097185,
+                    0.769683834772559,
+                    -0.5267987253822634
+                ],
+                [
+                    -0.770964008081993,
+                    -0.07186622882313774,
+                    -0.6328109855216559
+                ]
+            ],
+            "translation_vector": [
+                0.7955092273034159,
+                0.11701135734143511,
+                0.3920267294315582
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5265870236649989,
+                    0.6344273756489146,
+                    0.565869253038959
+                ],
+                [
+                    0.3538193363820656,
+                    0.76880116573772,
+                    -0.5326881308631517
+                ],
+                [
+                    -0.7729928742943192,
+                    -0.08029117378363887,
+                    -0.6293133906907217
+                ]
+            ],
+            "translation_vector": [
+                0.7951784369351004,
+                0.11622737737264344,
+                0.39401814365271914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5314885971481933,
+                    0.6326079371646149,
+                    0.5633179110748885
+                ],
+                [
+                    0.34528106285143234,
+                    0.7690625265316452,
+                    -0.5378882950213247
+                ],
+                [
+                    -0.7734991006702143,
+                    -0.09137848828413139,
+                    -0.6271755042579996
+                ]
+            ],
+            "translation_vector": [
+                0.794973236930539,
+                0.11550870177556599,
+                0.3962544679663462
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5381421673648918,
+                    0.6294187685306406,
+                    0.5605666967678237
+                ],
+                [
+                    0.33461578241096845,
+                    0.7699665095726521,
+                    -0.5433082479569062
+                ],
+                [
+                    -0.7735859912545682,
+                    -0.10480261427025431,
+                    -0.6249648999558362
+                ]
+            ],
+            "translation_vector": [
+                0.7948811038894164,
+                0.11507960309323002,
+                0.39904503782469003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.54835512867934,
+                    0.6250915203565237,
+                    0.5554882933324831
+                ],
+                [
+                    0.31794168737818224,
+                    0.7702230716970067,
+                    -0.5528738583553601
+                ],
+                [
+                    -0.773446660267002,
+                    -0.12655833044094045,
+                    -0.6210984243401552
+                ]
+            ],
+            "translation_vector": [
+                0.7944945537319793,
+                0.114922482043969,
+                0.4042600179649406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5578768400598724,
+                    0.6197758044272034,
+                    0.551952338133851
+                ],
+                [
+                    0.3038258387637718,
+                    0.7714131688610313,
+                    -0.5591167879855453
+                ],
+                [
+                    -0.7723103592625846,
+                    -0.14422092481465926,
+                    -0.6186574446503512
+                ]
+            ],
+            "translation_vector": [
+                0.7945481200150495,
+                0.11485021118877684,
+                0.4081555967765235
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5736822109836858,
+                    0.6116479118484687,
+                    0.5447711012271835
+                ],
+                [
+                    0.28065152244400265,
+                    0.7716290022165935,
+                    -0.570809430447753
+                ],
+                [
+                    -0.769495577473148,
+                    -0.1745723771667005,
+                    -0.6143297497107185
+                ]
+            ],
+            "translation_vector": [
+                0.7941055960078571,
+                0.11531622802728811,
+                0.41476555778162905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.5936685167221343,
+                    0.6018161579930741,
+                    0.5342050207845267
+                ],
+                [
+                    0.2553599409256457,
+                    0.7704275067228767,
+                    -0.5841513138350567
+                ],
+                [
+                    -0.7631179416206855,
+                    -0.21037768147602404,
+                    -0.6110582937113128
+                ]
+            ],
+            "translation_vector": [
+                0.7928987349392322,
+                0.11698376367590563,
+                0.42183167923118703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6090091111112808,
+                    0.5959370607736697,
+                    0.5234184962149192
+                ],
+                [
+                    0.23457636523230674,
+                    0.7657188321908361,
+                    -0.5988727735526986
+                ],
+                [
+                    -0.7576818801171422,
+                    -0.24193736715262074,
+                    -0.6061224949772207
+                ]
+            ],
+            "translation_vector": [
+                0.790864700038693,
+                0.1188199744144603,
+                0.42791662068500647
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6298838773219235,
+                    0.5845646670776884,
+                    0.5114004801466768
+                ],
+                [
+                    0.2116679378538968,
+                    0.7627108223614121,
+                    -0.6111210072788023
+                ],
+                [
+                    -0.7472904289328074,
+                    -0.27668818452751165,
+                    -0.6041528476869831
+                ]
+            ],
+            "translation_vector": [
+                0.789182803895712,
+                0.12139694261787332,
+                0.43342506391705665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6610592533294931,
+                    0.5615813027450353,
+                    0.4976214464777847
+                ],
+                [
+                    0.17262213001996685,
+                    0.7592364894700342,
+                    -0.6275042257105438
+                ],
+                [
+                    -0.7302070006613353,
+                    -0.32891700087470155,
+                    -0.598841667488802
+                ]
+            ],
+            "translation_vector": [
+                0.7878910535183223,
+                0.1252239357365696,
+                0.44000735785393585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.6868348418536943,
+                    0.5358553103017254,
+                    0.4910366446990009
+                ],
+                [
+                    0.13547291635949574,
+                    0.7581479553826853,
+                    -0.6378548163039199
+                ],
+                [
+                    -0.7140763187145084,
+                    -0.37157874558496473,
+                    -0.5933163126702654
+                ]
+            ],
+            "translation_vector": [
+                0.7883652391412119,
+                0.12828530246466008,
+                0.4436359833746511
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7123792141896922,
+                    0.5088077153532599,
+                    0.4833534565796267
+                ],
+                [
+                    0.10459710066492088,
+                    0.7580240201060856,
+                    -0.643784926411532
+                ],
+                [
+                    -0.6939562678749788,
+                    -0.40806162982961924,
+                    -0.593220367601978
+                ]
+            ],
+            "translation_vector": [
+                0.7889082864872028,
+                0.13138832005422735,
+                0.44504702604373636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7445965304051113,
+                    0.4680317200715231,
+                    0.4759436058143468
+                ],
+                [
+                    0.06094402490815975,
+                    0.7576960634005164,
+                    -0.6497557243575118
+                ],
+                [
+                    -0.6647268858235421,
+                    -0.4547999389998341,
+                    -0.5927015967154833
+                ]
+            ],
+            "translation_vector": [
+                0.7902699178296464,
+                0.13683817445877589,
+                0.4461131996017521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7748127249883805,
+                    0.41901241985199555,
+                    0.4733855016853129
+                ],
+                [
+                    0.00658097868463373,
+                    0.7541068882041668,
+                    -0.656718731179933
+                ],
+                [
+                    -0.6321565723107154,
+                    -0.5057186897602298,
+                    -0.5870491247856212
+                ]
+            ],
+            "translation_vector": [
+                0.7932667980766945,
+                0.1435495990751699,
+                0.4486868244964313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.7933672338244627,
+                    0.38620751362173794,
+                    0.4705445661314508
+                ],
+                [
+                    -0.02725873194970486,
+                    0.7496627431032162,
+                    -0.6612584465513127
+                ],
+                [
+                    -0.6081327107023714,
+                    -0.5374472327820438,
+                    -0.5842303297062805
+                ]
+            ],
+            "translation_vector": [
+                0.794239113576519,
+                0.14908718566100557,
+                0.44855419209265585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8131473266854229,
+                    0.34657156115291926,
+                    0.4676318831136081
+                ],
+                [
+                    -0.06337141989232675,
+                    0.7459216887996428,
+                    -0.6630119888200515
+                ],
+                [
+                    -0.5785978640171264,
+                    -0.568760922689242,
+                    -0.5845814952395444
+                ]
+            ],
+            "translation_vector": [
+                0.79469911824125,
+                0.1578648201218844,
+                0.4470838731224989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.831830752044526,
+                    0.3072427886919813,
+                    0.4622331324665216
+                ],
+                [
+                    -0.09798184098689611,
+                    0.7384399777491556,
+                    -0.6671626174319463
+                ],
+                [
+                    -0.5463123271443332,
+                    -0.6002568350786199,
+                    -0.5841528679648348
+                ]
+            ],
+            "translation_vector": [
+                0.7946850494987496,
+                0.16633645735220776,
+                0.4463034282491195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.844631761889662,
+                    0.2782716056002154,
+                    0.45734243223633203
+                ],
+                [
+                    -0.12173632639695545,
+                    0.7320744864879706,
+                    -0.6702590641451622
+                ],
+                [
+                    -0.5213227921763441,
+                    -0.621797281877344,
+                    -0.5844576003504514
+                ]
+            ],
+            "translation_vector": [
+                0.7937584920009897,
+                0.17329674762465114,
+                0.44485511985596965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8584387035353271,
+                    0.2520655535805236,
+                    0.44670566256846495
+                ],
+                [
+                    -0.13865161315171082,
+                    0.7244504874851107,
+                    -0.6752386402991272
+                ],
+                [
+                    -0.49382053667604314,
+                    -0.6415874436744612,
+                    -0.5869470416283353
+                ]
+            ],
+            "translation_vector": [
+                0.7906286726031467,
+                0.1803061531011409,
+                0.44240122052863073
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8710447497277621,
+                    0.22761346195169585,
+                    0.4352851432223072
+                ],
+                [
+                    -0.15556835152421317,
+                    0.7127121981333107,
+                    -0.6839881655672294
+                ],
+                [
+                    -0.46591794553949023,
+                    -0.6635008926673338,
+                    -0.5853947671904082
+                ]
+            ],
+            "translation_vector": [
+                0.7873465538846114,
+                0.18611607886922427,
+                0.44148515172450464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8845800022953674,
+                    0.20175852662160973,
+                    0.42048985299838687
+                ],
+                [
+                    -0.17178540657287028,
+                    0.6972525007852072,
+                    -0.6959372990703753
+                ],
+                [
+                    -0.4335988856393908,
+                    -0.6878462379661987,
+                    -0.5821164482197928
+                ]
+            ],
+            "translation_vector": [
+                0.7824326732363416,
+                0.19253746249294146,
+                0.441008634430518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.8985217754184726,
+                    0.18439010149250917,
+                    0.3983201094225833
+                ],
+                [
+                    -0.17317882618077296,
+                    0.68493585412758,
+                    -0.7077230884273688
+                ],
+                [
+                    -0.4033208564672625,
+                    -0.7048852149124039,
+                    -0.5834973183626545
+                ]
+            ],
+            "translation_vector": [
+                0.7739547299975433,
+                0.19775761982782675,
+                0.43873871823995586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9097033640376001,
+                    0.16762404348543952,
+                    0.3799236364116685
+                ],
+                [
+                    -0.17853635693266973,
+                    0.6681524223664027,
+                    -0.7222860304194724
+                ],
+                [
+                    -0.3749194029546677,
+                    -0.7248962136275097,
+                    -0.5778935202583739
+                ]
+            ],
+            "translation_vector": [
+                0.7661815919312803,
+                0.2026648470228869,
+                0.43932841518379634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9164073974939619,
+                    0.16251495825577852,
+                    0.3657681918394027
+                ],
+                [
+                    -0.17665897175320924,
+                    0.6557907592675576,
+                    -0.7339823483970028
+                ],
+                [
+                    -0.3591505109525007,
+                    -0.7372430863713834,
+                    -0.5722617775809903
+                ]
+            ],
+            "translation_vector": [
+                0.7576458470793653,
+                0.20684565256626425,
+                0.4401383990048223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9250511413984034,
+                    0.1534978508163578,
+                    0.3474461045864096
+                ],
+                [
+                    -0.17561789663412905,
+                    0.6382405558366304,
+                    -0.749538089270421
+                ],
+                [
+                    -0.3368066807225111,
+                    -0.7543788190823683,
+                    -0.5634481849651984
+                ]
+            ],
+            "translation_vector": [
+                0.7444671472332833,
+                0.21442466727357123,
+                0.4433046247997484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9284630313766896,
+                    0.1529566208793428,
+                    0.3384681247857487
+                ],
+                [
+                    -0.1729191707816217,
+                    0.6284843602993551,
+                    -0.7583576789584892
+                ],
+                [
+                    -0.32871775087908567,
+                    -0.7626346969475515,
+                    -0.5570753622883641
+                ]
+            ],
+            "translation_vector": [
+                0.7344021183997025,
+                0.22011474509506274,
+                0.4461869545169352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9298966778011842,
+                    0.15218274361277714,
+                    0.3348620330237639
+                ],
+                [
+                    -0.1727976540015848,
+                    0.6229329371409139,
+                    -0.7629518507720805
+                ],
+                [
+                    -0.3247046956634123,
+                    -0.7673297650759302,
+                    -0.5529664476644572
+                ]
+            ],
+            "translation_vector": [
+                0.7268066391996312,
+                0.22507027314219202,
+                0.4481061707366917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9302993991326459,
+                    0.1482302792968391,
+                    0.33551574072317275
+                ],
+                [
+                    -0.17916131192783866,
+                    0.6145405781206076,
+                    -0.768271502889106
+                ],
+                [
+                    -0.3200691367216369,
+                    -0.7748339577888742,
+                    -0.5451495992619785
+                ]
+            ],
+            "translation_vector": [
+                0.7166987967836016,
+                0.2335152151545679,
+                0.4524168884689826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9305125337252861,
+                    0.14427760447168228,
+                    0.33664580411474215
+                ],
+                [
+                    -0.18281637890521085,
+                    0.6134957315669542,
+                    -0.7682455069527672
+                ],
+                [
+                    -0.3173713852635976,
+                    -0.7764064400795764,
+                    -0.5444891584033833
+                ]
+            ],
+            "translation_vector": [
+                0.7123241635189552,
+                0.23760662567919932,
+                0.45380520530732227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9304947887338072,
+                    0.13594600250404373,
+                    0.34014428194870217
+                ],
+                [
+                    -0.19170492509912135,
+                    0.6105335351710433,
+                    -0.7684386924955624
+                ],
+                [
+                    -0.312135659340563,
+                    -0.7802355329224117,
+                    -0.5420367545963217
+                ]
+            ],
+            "translation_vector": [
+                0.7090390649668614,
+                0.24162767953872033,
+                0.4548302812359809
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9293557057332869,
+                    0.12379021308100532,
+                    0.3478131040750829
+                ],
+                [
+                    -0.20677551689241497,
+                    0.605942799539096,
+                    -0.768164832116518
+                ],
+                [
+                    -0.3058461342486769,
+                    -0.7858176040482188,
+                    -0.5375396128036128
+                ]
+            ],
+            "translation_vector": [
+                0.7069373444307591,
+                0.24581215408365942,
+                0.4556924663070053
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9294067632429308,
+                    0.11577924899625718,
+                    0.35042578949067266
+                ],
+                [
+                    -0.21408960388030765,
+                    0.6042854289520432,
+                    -0.7674664565090896
+                ],
+                [
+                    -0.30061388848267057,
+                    -0.7883110337031367,
+                    -0.5368398310420164
+                ]
+            ],
+            "translation_vector": [
+                0.7050652816245164,
+                0.24822201916918782,
+                0.4552438775386523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9294820202209212,
+                    0.11311073111541345,
+                    0.3510970472569826
+                ],
+                [
+                    -0.21623694747175287,
+                    0.604039678043482,
+                    -0.7670577878473208
+                ],
+                [
+                    -0.2988390145783071,
+                    -0.7888865760397142,
+                    -0.5369853010187552
+                ]
+            ],
+            "translation_vector": [
+                0.7034803108930479,
+                0.24943108185642693,
+                0.4546298532293185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9289494554456786,
+                    0.11050356730301442,
+                    0.3533296914221693
+                ],
+                [
+                    -0.21941463733738678,
+                    0.604377853055469,
+                    -0.765888129989077
+                ],
+                [
+                    -0.29817801084130985,
+                    -0.7889970673895883,
+                    -0.537190377335028
+                ]
+            ],
+            "translation_vector": [
+                0.7036647064554098,
+                0.249799373610443,
+                0.4541577930865718
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9286232385837419,
+                    0.11026374876225371,
+                    0.3542609016969516
+                ],
+                [
+                    -0.2204158189206991,
+                    0.6041165545041238,
+                    -0.7658068002724862
+                ],
+                [
+                    -0.2984556039543573,
+                    -0.7892306977576079,
+                    -0.5366927968449726
+                ]
+            ],
+            "translation_vector": [
+                0.7039330240457568,
+                0.24992246477808136,
+                0.4543291637802496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9283682120022331,
+                    0.10948785962047962,
+                    0.3551687930259401
+                ],
+                [
+                    -0.22173560896595487,
+                    0.6037562612346816,
+                    -0.7657099298927867
+                ],
+                [
+                    -0.29827132389868466,
+                    -0.7896143271342316,
+                    -0.5362307635002684
+                ]
+            ],
+            "translation_vector": [
+                0.7046590805327512,
+                0.24984211687344576,
+                0.45436741480357545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9280988042243214,
+                    0.10897534108033022,
+                    0.3560294715803882
+                ],
+                [
+                    -0.22270220864058934,
+                    0.603836326168291,
+                    -0.765366198277782
+                ],
+                [
+                    -0.29838957063541655,
+                    -0.7896240030774188,
+                    -0.5361507231180471
+                ]
+            ],
+            "translation_vector": [
+                0.7055650137091383,
+                0.24962030253719622,
+                0.4543740261084427
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9277913484645987,
+                    0.10923743738560726,
+                    0.3567497666259465
+                ],
+                [
+                    -0.2230338096392491,
+                    0.6041417940104455,
+                    -0.76502850436284
+                ],
+                [
+                    -0.29909719736574747,
+                    -0.7893540872151523,
+                    -0.536153887913432
+                ]
+            ],
+            "translation_vector": [
+                0.7062516766436644,
+                0.24939926617042862,
+                0.45452403449996925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275907320322954,
+                    0.10940449694699227,
+                    0.3572199461054296
+                ],
+                [
+                    -0.22332807980419875,
+                    0.6041415053651693,
+                    -0.7649428803943972
+                ],
+                [
+                    -0.2994995870093312,
+                    -0.7893311710194163,
+                    -0.5359629649876541
+                ]
+            ],
+            "translation_vector": [
+                0.7068784610500817,
+                0.24917895517636884,
+                0.45467012437774346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275953824449669,
+                    0.10967908057637768,
+                    0.357123656106252
+                ],
+                [
+                    -0.22291499944420984,
+                    0.6046151758556304,
+                    -0.7646890820116719
+                ],
+                [
+                    -0.29979277758072154,
+                    -0.7889302810825465,
+                    -0.5363891330941095
+                ]
+            ],
+            "translation_vector": [
+                0.7075231676302693,
+                0.24881383292346232,
+                0.4546338525561121
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275977776502679,
+                    0.10958938337975183,
+                    0.35714497049339783
+                ],
+                [
+                    -0.22287190555754494,
+                    0.6049070997606527,
+                    -0.7644707413448241
+                ],
+                [
+                    -0.2998174054511062,
+                    -0.7887189408842682,
+                    -0.5366860867201287
+                ]
+            ],
+            "translation_vector": [
+                0.7078777577137819,
+                0.24870242493243716,
+                0.4545990155481211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927603583624882,
+                    0.1098837311392634,
+                    0.35703943378454794
+                ],
+                [
+                    -0.22249743466507882,
+                    0.6052288393585618,
+                    -0.7643251556609578
+                ],
+                [
+                    -0.3000774620222843,
+                    -0.7884311115370845,
+                    -0.5369635920122168
+                ]
+            ],
+            "translation_vector": [
+                0.7082544088501986,
+                0.24847658016583507,
+                0.45459970701575375
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275593725471668,
+                    0.11012803708047443,
+                    0.35707901905419726
+                ],
+                [
+                    -0.2222706561061948,
+                    0.6055498303923759,
+                    -0.7641368714738785
+                ],
+                [
+                    -0.3003820331411781,
+                    -0.7881505048913988,
+                    -0.5372051896672311
+                ]
+            ],
+            "translation_vector": [
+                0.7087818371153012,
+                0.2481859415730995,
+                0.4546038246371463
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275633378222103,
+                    0.11013923710396982,
+                    0.3570652640320477
+                ],
+                [
+                    -0.22219239866446297,
+                    0.6057089060423569,
+                    -0.7640335458058791
+                ],
+                [
+                    -0.3004276823194775,
+                    -0.7880266934508803,
+                    -0.537361273358083
+                ]
+            ],
+            "translation_vector": [
+                0.7091349321476837,
+                0.24798479796847203,
+                0.4545623601703262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275128484272459,
+                    0.11026659781329917,
+                    0.35715709906014326
+                ],
+                [
+                    -0.22213226881878806,
+                    0.6058772939214634,
+                    -0.7639175085438368
+                ],
+                [
+                    -0.3006279613605404,
+                    -0.7878794210519051,
+                    -0.5374652051352912
+                ]
+            ],
+            "translation_vector": [
+                0.7095091845176921,
+                0.24777505894703872,
+                0.4545732569266492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927476114435227,
+                    0.11062125808217135,
+                    0.35714282074885834
+                ],
+                [
+                    -0.22184289621201544,
+                    0.6060823789563797,
+                    -0.7638389092726559
+                ],
+                [
+                    -0.3009547915425147,
+                    -0.7876719413429001,
+                    -0.5375863895865564
+                ]
+            ],
+            "translation_vector": [
+                0.7098693436422113,
+                0.2475219193094137,
+                0.45460594218732675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274795843407666,
+                    0.11054075195992481,
+                    0.3571587361205288
+                ],
+                [
+                    -0.22173506915411104,
+                    0.6065172290167355,
+                    -0.7635249897764205
+                ],
+                [
+                    -0.3010235534610219,
+                    -0.7873484572043028,
+                    -0.538021586183774
+                ]
+            ],
+            "translation_vector": [
+                0.710170108644338,
+                0.2474272595022744,
+                0.4545281123607412
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9276571279185166,
+                    0.1102560784765381,
+                    0.35678543997891043
+                ],
+                [
+                    -0.22156862787066964,
+                    0.6065678033727366,
+                    -0.7635331316027367
+                ],
+                [
+                    -0.3005987294808113,
+                    -0.7873494123135857,
+                    -0.538257658342149
+                ]
+            ],
+            "translation_vector": [
+                0.7104477932683997,
+                0.2472655144555735,
+                0.4545473426348628
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275462472263789,
+                    0.10873431499109666,
+                    0.35753993902734615
+                ],
+                [
+                    -0.22312926210445785,
+                    0.6063478870522038,
+                    -0.7632532818534412
+                ],
+                [
+                    -0.2997854093330454,
+                    -0.7877303400344217,
+                    -0.5381538996795188
+                ]
+            ],
+            "translation_vector": [
+                0.7098190877705858,
+                0.24766654682012992,
+                0.45432824987686454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9277233038874486,
+                    0.10614404256424952,
+                    0.3578587901006146
+                ],
+                [
+                    -0.22466806218316582,
+                    0.6068220507808594,
+                    -0.7624245933343009
+                ],
+                [
+                    -0.29808343338571874,
+                    -0.7877185036002593,
+                    -0.5391157814669786
+                ]
+            ],
+            "translation_vector": [
+                0.708520528192766,
+                0.24882196729407954,
+                0.4536069211220575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9283610097262458,
+                    0.10563826677087276,
+                    0.356351500928103
+                ],
+                [
+                    -0.22382288473410833,
+                    0.6065332734857082,
+                    -0.7629028145340757
+                ],
+                [
+                    -0.2967307734114679,
+                    -0.7880088481409064,
+                    -0.539437580598789
+                ]
+            ],
+            "translation_vector": [
+                0.7078011790132666,
+                0.24867865677917805,
+                0.45298323325078893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9280490798408263,
+                    0.10591851902651668,
+                    0.357080064878768
+                ],
+                [
+                    -0.22438013447903088,
+                    0.606225503686849,
+                    -0.7629837442113683
+                ],
+                [
+                    -0.2972851504158387,
+                    -0.7882080347261478,
+                    -0.5388410093296322
+                ]
+            ],
+            "translation_vector": [
+                0.7078878191086189,
+                0.24867636812190558,
+                0.4532077984597239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9280212720447464,
+                    0.10560620289893498,
+                    0.3572448019799877
+                ],
+                [
+                    -0.22467190710016274,
+                    0.6062763860432989,
+                    -0.7628574427022743
+                ],
+                [
+                    -0.2971515653541597,
+                    -0.7882108053278303,
+                    -0.5389106359796833
+                ]
+            ],
+            "translation_vector": [
+                0.7079140915702379,
+                0.24876388954630196,
+                0.45317193069189227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9280403097420408,
+                    0.10563419644299839,
+                    0.35718706588528576
+                ],
+                [
+                    -0.22465508658012626,
+                    0.6061533586421436,
+                    -0.7629601548446193
+                ],
+                [
+                    -0.29710482252493553,
+                    -0.7883016696345959,
+                    -0.5388034911577093
+                ]
+            ],
+            "translation_vector": [
+                0.7078977190942035,
+                0.24879154020137634,
+                0.4531923117411626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9277455736916957,
+                    0.10569904441520124,
+                    0.3579327625479119
+                ],
+                [
+                    -0.22523000900824136,
+                    0.6061579304086023,
+                    -0.7627869993942658
+                ],
+                [
+                    -0.29758963949978845,
+                    -0.7882894616906112,
+                    -0.5385537401689013
+                ]
+            ],
+            "translation_vector": [
+                0.7081069636294987,
+                0.24890734560634178,
+                0.45342269439378075
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9278100156784848,
+                    0.10549251760882729,
+                    0.3578266389402015
+                ],
+                [
+                    -0.2253337112846515,
+                    0.6059592238641587,
+                    -0.7629142399854864
+                ],
+                [
+                    -0.29731009630581906,
+                    -0.788469877511182,
+                    -0.5384440164883689
+                ]
+            ],
+            "translation_vector": [
+                0.7082169157241451,
+                0.2488222692715219,
+                0.45336534948241736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9277170179991643,
+                    0.10578017111271412,
+                    0.35798280672974087
+                ],
+                [
+                    -0.22542368870863572,
+                    0.6056330766110242,
+                    -0.7631466026155509
+                ],
+                [
+                    -0.297532006822342,
+                    -0.7886818952619811,
+                    -0.5380107554707803
+                ]
+            ],
+            "translation_vector": [
+                0.7083728215829078,
+                0.24876189246459662,
+                0.4535358415991612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274342003894958,
+                    0.10641712146236496,
+                    0.35852642888295067
+                ],
+                [
+                    -0.22559202287394847,
+                    0.6054256118926342,
+                    -0.7632614674409222
+                ],
+                [
+                    -0.29828517087434486,
+                    -0.7887554910896623,
+                    -0.5374855645618487
+                ]
+            ],
+            "translation_vector": [
+                0.7085764403831251,
+                0.24874545113101257,
+                0.4538995093750699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273657217226203,
+                    0.10659750471762232,
+                    0.3586499549168525
+                ],
+                [
+                    -0.22566096157804846,
+                    0.6052447564875131,
+                    -0.763384513311635
+                ],
+                [
+                    -0.2984458888870047,
+                    -0.7888699238355764,
+                    -0.537228345002475
+                ]
+            ],
+            "translation_vector": [
+                0.7087087421718814,
+                0.24870907110048368,
+                0.4540167478057025
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274080148835115,
+                    0.10652159205838387,
+                    0.35856313858952615
+                ],
+                [
+                    -0.22567132729276573,
+                    0.6051408983722917,
+                    -0.7634637811678412
+                ],
+                [
+                    -0.2983065972581664,
+                    -0.7889598491320855,
+                    -0.5371736502191178
+                ]
+            ],
+            "translation_vector": [
+                0.7088049005697963,
+                0.2486647142429379,
+                0.4539906184563416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272683619732837,
+                    0.10709410825664223,
+                    0.35875372731178445
+                ],
+                [
+                    -0.22556244378714632,
+                    0.6049954602754906,
+                    -0.763611208010214
+                ],
+                [
+                    -0.29882263775717194,
+                    -0.788993881486265,
+                    -0.5368367406773533
+                ]
+            ],
+            "translation_vector": [
+                0.7089264969584559,
+                0.248609665385493,
+                0.4542353410253383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272004604736137,
+                    0.10730743514002415,
+                    0.35886546289826815
+                ],
+                [
+                    -0.22556178484591494,
+                    0.604924617088436,
+                    -0.763667525077199
+                ],
+                [
+                    -0.29903375614576344,
+                    -0.7890192152312127,
+                    -0.5366819269188013
+                ]
+            ],
+            "translation_vector": [
+                0.7090295216437559,
+                0.2485749148164751,
+                0.4543296326048782
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273617721673609,
+                    0.1075038805569077,
+                    0.358389535544522
+                ],
+                [
+                    -0.22504173651867182,
+                    0.604972102285151,
+                    -0.7637833280985821
+                ],
+                [
+                    -0.2989253424306357,
+                    -0.7889560641264454,
+                    -0.536835140923949
+                ]
+            ],
+            "translation_vector": [
+                0.7090248172246221,
+                0.2484296099018938,
+                0.4542327248868202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272957140481407,
+                    0.10797964539003359,
+                    0.3584174310624305
+                ],
+                [
+                    -0.22481524269967618,
+                    0.6049268784401582,
+                    -0.7638858412030768
+                ],
+                [
+                    -0.2993004600027123,
+                    -0.7889257683217662,
+                    -0.5366706315050938
+                ]
+            ],
+            "translation_vector": [
+                0.7090969725227166,
+                0.24836956791478246,
+                0.45437237506680345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927208092010132,
+                    0.1079393641088207,
+                    0.35865616931361105
+                ],
+                [
+                    -0.2249863862705664,
+                    0.60505359525655,
+                    -0.7637350802863744
+                ],
+                [
+                    -0.29944328361785266,
+                    -0.7888341020410481,
+                    -0.5367257021545101
+                ]
+            ],
+            "translation_vector": [
+                0.7092159305258202,
+                0.2484008284413851,
+                0.4544057715004529
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273515099736255,
+                    0.10826900798770954,
+                    0.3581857044313667
+                ],
+                [
+                    -0.22443970670198174,
+                    0.6049860916418958,
+                    -0.7639493746154863
+                ],
+                [
+                    -0.2994094103483816,
+                    -0.7888407005404965,
+                    -0.5367349011994781
+                ]
+            ],
+            "translation_vector": [
+                0.7092037694319664,
+                0.2482487218142981,
+                0.45437460395547125
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272100760064058,
+                    0.10832082862982753,
+                    0.35853601358460885
+                ],
+                [
+                    -0.22463090486224088,
+                    0.6051659889863668,
+                    -0.7637506676625063
+                ],
+                [
+                    -0.2997039064359459,
+                    -0.788695583770507,
+                    -0.5367837968939949
+                ]
+            ],
+            "translation_vector": [
+                0.7093227554381549,
+                0.24831832112960717,
+                0.4544729042936273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272332709240992,
+                    0.10834299166710404,
+                    0.35846932567238965
+                ],
+                [
+                    -0.22455577333281343,
+                    0.6051864505156043,
+                    -0.763756548106284
+                ],
+                [
+                    -0.29968844814957096,
+                    -0.7886768389327444,
+                    -0.5368199677515322
+                ]
+            ],
+            "translation_vector": [
+                0.7093600822661807,
+                0.24827225387289287,
+                0.4544517003117091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272390979681239,
+                    0.10856788475285473,
+                    0.3583862017426884
+                ],
+                [
+                    -0.2243455471425707,
+                    0.6052276520174498,
+                    -0.7637856798282786
+                ],
+                [
+                    -0.2998278350596567,
+                    -0.7886142933232545,
+                    -0.536834020615035
+                ]
+            ],
+            "translation_vector": [
+                0.7094128135974925,
+                0.24818489550158856,
+                0.45445040617434274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272007808567118,
+                    0.10860650714528468,
+                    0.3584736232756962
+                ],
+                [
+                    -0.2243808831187014,
+                    0.6052671438510321,
+                    -0.7637440041435917
+                ],
+                [
+                    -0.2999198747492008,
+                    -0.788578665181931,
+                    -0.536834944419892
+                ]
+            ],
+            "translation_vector": [
+                0.7094732374966377,
+                0.24816869680802597,
+                0.4544619626277532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9271987050847122,
+                    0.10887261856921272,
+                    0.3583982620146417
+                ],
+                [
+                    -0.22417326889311637,
+                    0.6052574455306553,
+                    -0.763812653825191
+                ],
+                [
+                    -0.3000815002678565,
+                    -0.7885494135154684,
+                    -0.5367875889412904
+                ]
+            ],
+            "translation_vector": [
+                0.7094943357727483,
+                0.24809521789435834,
+                0.4544831028669679
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9271208625206442,
+                    0.10877652604392088,
+                    0.3586287407065883
+                ],
+                [
+                    -0.22434798555379312,
+                    0.6054387781874673,
+                    -0.7636176184746017
+                ],
+                [
+                    -0.30019141835990615,
+                    -0.7884234606153496,
+                    -0.5369111277431162
+                ]
+            ],
+            "translation_vector": [
+                0.7095802883008218,
+                0.24815466834998356,
+                0.4544986521077754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9271896884220697,
+                    0.10889560210113522,
+                    0.35841460562708227
+                ],
+                [
+                    -0.22410792740563448,
+                    0.6054306149577071,
+                    -0.7636945772662552
+                ],
+                [
+                    -0.30015815590740924,
+                    -0.7884132915641165,
+                    -0.5369446555533444
+                ]
+            ],
+            "translation_vector": [
+                0.7095989682170388,
+                0.24803798664423704,
+                0.4544528990737997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9271954708178689,
+                    0.10922105994246004,
+                    0.3583005986038489
+                ],
+                [
+                    -0.2238397352698493,
+                    0.6054088529136593,
+                    -0.7637904776364337
+                ],
+                [
+                    -0.30034035994044267,
+                    -0.788384982656832,
+                    -0.5368843332711736
+                ]
+            ],
+            "translation_vector": [
+                0.7096001290762334,
+                0.24798922229724016,
+                0.4545261128139002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9271863286965943,
+                    0.1090865350236532,
+                    0.3583652323463658
+                ],
+                [
+                    -0.22389356909933653,
+                    0.6056054013557116,
+                    -0.7636188627612264
+                ],
+                [
+                    -0.30032845618437837,
+                    -0.7882526407981908,
+                    -0.5370852750547042
+                ]
+            ],
+            "translation_vector": [
+                0.709644821071509,
+                0.24802413183837374,
+                0.4544936600353611
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272336346659803,
+                    0.10913618039212773,
+                    0.3582276941744351
+                ],
+                [
+                    -0.22374302091038054,
+                    0.6056301102916221,
+                    -0.7636433919717079
+                ],
+                [
+                    -0.3002946009138571,
+                    -0.7882267843949324,
+                    -0.5371421497373042
+                ]
+            ],
+            "translation_vector": [
+                0.7096566451578373,
+                0.24798093126421644,
+                0.45448325311366206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9271536549228402,
+                    0.1092161893743251,
+                    0.3584102734880387
+                ],
+                [
+                    -0.2238225369873396,
+                    0.6056981896925818,
+                    -0.7635660907476709
+                ],
+                [
+                    -0.300482232585839,
+                    -0.7881633885062672,
+                    -0.5371302457677738
+                ]
+            ],
+            "translation_vector": [
+                0.7097038859510059,
+                0.2480139740810453,
+                0.4545492110534016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272251913835382,
+                    0.10931035159369358,
+                    0.35819644260967254
+                ],
+                [
+                    -0.2235987534941151,
+                    0.6056846221293589,
+                    -0.7636424136674794
+                ],
+                [
+                    -0.300428097719969,
+                    -0.7881607612349647,
+                    -0.5371643813116075
+                ]
+            ],
+            "translation_vector": [
+                0.7096994450963824,
+                0.24795225412352626,
+                0.45453542397664704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272428937008318,
+                    0.10934090298392968,
+                    0.35814128918063476
+                ],
+                [
+                    -0.22350806959762154,
+                    0.6057583686081833,
+                    -0.7636104646257131
+                ],
+                [
+                    -0.3004409407954465,
+                    -0.7880998450677502,
+                    -0.537246568437748
+                ]
+            ],
+            "translation_vector": [
+                0.7096969627539772,
+                0.24794756223276054,
+                0.45452503365517655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272307622772542,
+                    0.10942267828847269,
+                    0.35814772226404
+                ],
+                [
+                    -0.223450086493161,
+                    0.6058039261121657,
+                    -0.7635912924813149
+                ],
+                [
+                    -0.3005215006167469,
+                    -0.7880534757129515,
+                    -0.5372695292716643
+                ]
+            ],
+            "translation_vector": [
+                0.7097132478615006,
+                0.24794388701075426,
+                0.45455548246756705
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9272244612103675,
+                    0.109477135536366,
+                    0.3581473933004339
+                ],
+                [
+                    -0.22338695402492506,
+                    0.6058885711121206,
+                    -0.7635426040288641
+                ],
+                [
+                    -0.30058786952338845,
+                    -0.7879808349131754,
+                    -0.5373389400601128
+                ]
+            ],
+            "translation_vector": [
+                0.7097450016133096,
+                0.24792557120998415,
+                0.4545602415375707
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273153114112069,
+                    0.10938516675572807,
+                    0.35794021639955176
+                ],
+                [
+                    -0.22325767430129964,
+                    0.605915659155174,
+                    -0.7635589203565933
+                ],
+                [
+                    -0.30040360198890964,
+                    -0.787972778263547,
+                    -0.5374537902254632
+                ]
+            ],
+            "translation_vector": [
+                0.7097329127414959,
+                0.2478847025825075,
+                0.4544792461662071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273362916637835,
+                    0.10962825096784203,
+                    0.3578114709634036
+                ],
+                [
+                    -0.22305704868536602,
+                    0.6058057476793963,
+                    -0.7637047525781037
+                ],
+                [
+                    -0.3004878619762152,
+                    -0.7880235038806521,
+                    -0.5373323014081915
+                ]
+            ],
+            "translation_vector": [
+                0.709710559167398,
+                0.24782083331139082,
+                0.45451655362524146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273433102980309,
+                    0.10952920035736127,
+                    0.3578236145289566
+                ],
+                [
+                    -0.22307932014819956,
+                    0.6059194512929891,
+                    -0.7636080378486207
+                ],
+                [
+                    -0.30044966594707245,
+                    -0.787949854250815,
+                    -0.5374616501839109
+                ]
+            ],
+            "translation_vector": [
+                0.7097295799308044,
+                0.24784374338351375,
+                0.4544881035075349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.92743865794892,
+                    0.1096668686189434,
+                    0.35753421328485724
+                ],
+                [
+                    -0.22276803486084948,
+                    0.6059080408019082,
+                    -0.7637079603721757
+                ],
+                [
+                    -0.30038631524445597,
+                    -0.7879394799214651,
+                    -0.5375122673901961
+                ]
+            ],
+            "translation_vector": [
+                0.7096769606963352,
+                0.24778641862575135,
+                0.45446372243037275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274281173315321,
+                    0.1095378771589154,
+                    0.35760109151176905
+                ],
+                [
+                    -0.22285726699587086,
+                    0.6060085099174356,
+                    -0.763602203018549
+                ],
+                [
+                    -0.3003526689244186,
+                    -0.7878801554647562,
+                    -0.537618019503449
+                ]
+            ],
+            "translation_vector": [
+                0.7097088708484348,
+                0.24781720975746696,
+                0.45443691199316105
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274407164502959,
+                    0.10961840935688574,
+                    0.3575437341084703
+                ],
+                [
+                    -0.22278695708708096,
+                    0.6059503786692283,
+                    -0.7636688486133885
+                ],
+                [
+                    -0.3003659255342415,
+                    -0.7879136646363519,
+                    -0.5375615014649705
+                ]
+            ],
+            "translation_vector": [
+                0.7097121449179348,
+                0.24777632557448726,
+                0.45444428866956804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274480013731355,
+                    0.10957901109869078,
+                    0.3575369142838402
+                ],
+                [
+                    -0.22277604583493935,
+                    0.606022333736587,
+                    -0.7636149320270069
+                ],
+                [
+                    -0.3003515243029842,
+                    -0.7878638025313096,
+                    -0.5376426234124114
+                ]
+            ],
+            "translation_vector": [
+                0.7097203579803375,
+                0.2477903429951852,
+                0.45442848165817423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274788050316131,
+                    0.10960887663021475,
+                    0.3574478428819977
+                ],
+                [
+                    -0.2226849563640135,
+                    0.606024883157452,
+                    -0.7636394772424708
+                ],
+                [
+                    -0.3003239524684776,
+                    -0.787857687122401,
+                    -0.5376669865407887
+                ]
+            ],
+            "translation_vector": [
+                0.7097120785629922,
+                0.24776421989944736,
+                0.45439929641309273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275002377120319,
+                    0.1097120297878616,
+                    0.3573605736003234
+                ],
+                [
+                    -0.22256611915972888,
+                    0.6059960839965135,
+                    -0.7636969744493353
+                ],
+                [
+                    -0.3003458533862289,
+                    -0.7878654813486367,
+                    -0.5376433312643056
+                ]
+            ],
+            "translation_vector": [
+                0.7097080213828488,
+                0.2477279637491306,
+                0.45440789186285063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274925658342978,
+                    0.10975572507367098,
+                    0.3573670677827819
+                ],
+                [
+                    -0.22255374238941372,
+                    0.6059781755526237,
+                    -0.7637147913340296
+                ],
+                [
+                    -0.30037871440995473,
+                    -0.7878731697217939,
+                    -0.5376137055190804
+                ]
+            ],
+            "translation_vector": [
+                0.7097314782186763,
+                0.24771145232726016,
+                0.4544329349669949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275254076019033,
+                    0.10977754116773292,
+                    0.3572751176727673
+                ],
+                [
+                    -0.22247226790607233,
+                    0.6059611321777394,
+                    -0.763752051586509
+                ],
+                [
+                    -0.3003376570889036,
+                    -0.787883238649636,
+                    -0.5376218875653308
+                ]
+            ],
+            "translation_vector": [
+                0.7097203297292994,
+                0.24769920871444806,
+                0.4544224742808123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275193420015596,
+                    0.10981779535000682,
+                    0.3572784936676965
+                ],
+                [
+                    -0.22242131120492972,
+                    0.6060427505241004,
+                    -0.7637021309771652
+                ],
+                [
+                    -0.3003941253334926,
+                    -0.7878148490360204,
+                    -0.5376905551555456
+                ]
+            ],
+            "translation_vector": [
+                0.709724765819917,
+                0.24770170307527484,
+                0.45441011793771846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275696738922412,
+                    0.10982615724564537,
+                    0.35714522992768205
+                ],
+                [
+                    -0.22230867061587975,
+                    0.6060380681720162,
+                    -0.7637386430548946
+                ],
+                [
+                    -0.3003220855089455,
+                    -0.7878172853593568,
+                    -0.5377272262444707
+                ]
+            ],
+            "translation_vector": [
+                0.7097213515044707,
+                0.24765499647303904,
+                0.45437454502375674
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275855520825517,
+                    0.1097814400923067,
+                    0.3571177382586413
+                ],
+                [
+                    -0.22229820473120138,
+                    0.6060720734011863,
+                    -0.7637147045962075
+                ],
+                [
+                    -0.3002807881649991,
+                    -0.7877973579889989,
+                    -0.5377794817623305
+                ]
+            ],
+            "translation_vector": [
+                0.7097347503609417,
+                0.24765439994736047,
+                0.45436395995857143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275492559217119,
+                    0.10985149953099262,
+                    0.3571904616445846
+                ],
+                [
+                    -0.22232813149929032,
+                    0.6060473526571968,
+                    -0.7637256105966583
+                ],
+                [
+                    -0.3003707372283682,
+                    -0.7878066097640948,
+                    -0.5377156923773853
+                ]
+            ],
+            "translation_vector": [
+                0.7097654112522871,
+                0.24764852350014238,
+                0.4543960755056794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275549054933647,
+                    0.10993297255354857,
+                    0.35715072286184246
+                ],
+                [
+                    -0.22226233606251092,
+                    0.6060140125640339,
+                    -0.7637712161007871
+                ],
+                [
+                    -0.30040198278844854,
+                    -0.7878208921586052,
+                    -0.5376773108614393
+                ]
+            ],
+            "translation_vector": [
+                0.7097700137504558,
+                0.24762163092489478,
+                0.4544123151525953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927565375856948,
+                    0.1099136463032995,
+                    0.35712947773555787
+                ],
+                [
+                    -0.22224697637468024,
+                    0.6060369011470934,
+                    -0.7637575243101312
+                ],
+                [
+                    -0.3003810163836448,
+                    -0.7878059817012953,
+                    -0.5377108704424594
+                ]
+            ],
+            "translation_vector": [
+                0.7097795651726481,
+                0.24760910342158138,
+                0.4543942623697173
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927575035790573,
+                    0.10984892749634866,
+                    0.3571243006377751
+                ],
+                [
+                    -0.22225762555163694,
+                    0.6060931925293496,
+                    -0.7637097549813869
+                ],
+                [
+                    -0.30034330500656475,
+                    -0.7877717023970103,
+                    -0.5377821529581013
+                ]
+            ],
+            "translation_vector": [
+                0.7098002989900591,
+                0.24760904825662108,
+                0.4543778783209295
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275667321241536,
+                    0.10985243033182675,
+                    0.35714478997559246
+                ],
+                [
+                    -0.2222787069387178,
+                    0.6060769822933145,
+                    -0.7637164840278631
+                ],
+                [
+                    -0.3003533484051252,
+                    -0.787783685464748,
+                    -0.5377589897132444
+                ]
+            ],
+            "translation_vector": [
+                0.7098208375645532,
+                0.24760494710213404,
+                0.4543887941696344
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275380806095775,
+                    0.10996904740783471,
+                    0.357183310964153
+                ],
+                [
+                    -0.22225497416584714,
+                    0.6060505188235449,
+                    -0.7637443912018286
+                ],
+                [
+                    -0.30045937408847806,
+                    -0.7877877742424837,
+                    -0.5376937671913582
+                ]
+            ],
+            "translation_vector": [
+                0.7098235594407829,
+                0.24759369251988056,
+                0.45442043633437434
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275311222669501,
+                    0.10987367444759645,
+                    0.3572307278071079
+                ],
+                [
+                    -0.22233827529062045,
+                    0.6060750148710682,
+                    -0.7637007055711207
+                ],
+                [
+                    -0.3004192213674164,
+                    -0.7877822364158884,
+                    -0.5377243154447985
+                ]
+            ],
+            "translation_vector": [
+                0.7098528634547908,
+                0.24761540329788823,
+                0.4544232577263753
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275301868141009,
+                    0.10983742418050776,
+                    0.35724430408054175
+                ],
+                [
+                    -0.22235563813867842,
+                    0.6061122224444757,
+                    -0.7636661207565516
+                ],
+                [
+                    -0.3004092587397074,
+                    -0.787758664854161,
+                    -0.5377644123690688
+                ]
+            ],
+            "translation_vector": [
+                0.7098547183018519,
+                0.24762359295675693,
+                0.4544014967280534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274907578204391,
+                    0.10999591182634055,
+                    0.35729790587010174
+                ],
+                [
+                    -0.2223358504407792,
+                    0.6060462875680158,
+                    -0.7637242086864877
+                ],
+                [
+                    -0.30054561012672204,
+                    -0.7877872788427841,
+                    -0.5376462959298043
+                ]
+            ],
+            "translation_vector": [
+                0.70987237891916,
+                0.2476152841522494,
+                0.4544738549570233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274934173641591,
+                    0.10987081542239015,
+                    0.3573294903371025
+                ],
+                [
+                    -0.22240546623263988,
+                    0.6061162652389933,
+                    -0.7636484018202206
+                ],
+                [
+                    -0.30048588874687004,
+                    -0.7877508977660096,
+                    -0.5377329762371378
+                ]
+            ],
+            "translation_vector": [
+                0.7098916676290672,
+                0.24764529078190206,
+                0.45445816814323853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9275022930941396,
+                    0.10990953763593578,
+                    0.3572945421382308
+                ],
+                [
+                    -0.22235272083588456,
+                    0.6061220520442399,
+                    -0.763659168453152
+                ],
+                [
+                    -0.30049752718116063,
+                    -0.7877410434669094,
+                    -0.5377409084267935
+                ]
+            ],
+            "translation_vector": [
+                0.7098878951052167,
+                0.24762969929158685,
+                0.4544482209085223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274918819496354,
+                    0.1098486979902214,
+                    0.35734027546216607
+                ],
+                [
+                    -0.22240348887191122,
+                    0.6061773153933485,
+                    -0.7636005175745464
+                ],
+                [
+                    -0.3004920915017986,
+                    -0.7877070050801672,
+                    -0.5377938053682925
+                ]
+            ],
+            "translation_vector": [
+                0.7099025204058511,
+                0.24764389258434422,
+                0.4544461274906159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274606380091802,
+                    0.11000029852129495,
+                    0.3573747322752838
+                ],
+                [
+                    -0.22237986436266513,
+                    0.6060902685996298,
+                    -0.7636764905605462
+                ],
+                [
+                    -0.3006059894108023,
+                    -0.787752829657917,
+                    -0.5376630157415497
+                ]
+            ],
+            "translation_vector": [
+                0.7099144489878264,
+                0.2476123541205318,
+                0.45448959760257684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274419029443184,
+                    0.10993294503946646,
+                    0.35744407151045515
+                ],
+                [
+                    -0.22244311873914469,
+                    0.6061733147592756,
+                    -0.7635921499068434
+                ],
+                [
+                    -0.3006169915168211,
+                    -0.7876983306245496,
+                    -0.5377367054076498
+                ]
+            ],
+            "translation_vector": [
+                0.7099238061188896,
+                0.24766350101709356,
+                0.45449304193966356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274719311148542,
+                    0.10992119456197609,
+                    0.3573697636624444
+                ],
+                [
+                    -0.22238684648941168,
+                    0.6061777627293014,
+                    -0.7636050094656227
+                ],
+                [
+                    -0.30056597861796996,
+                    -0.787696547509615,
+                    -0.5377678323764401
+                ]
+            ],
+            "translation_vector": [
+                0.7099172373991038,
+                0.2476397852324497,
+                0.45446816005096347
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274594853768955,
+                    0.10999499676034373,
+                    0.35737935540839033
+                ],
+                [
+                    -0.22236818806984432,
+                    0.6061386487286706,
+                    -0.7636414914421008
+                ],
+                [
+                    -0.30061818294800285,
+                    -0.7877163443810683,
+                    -0.5377096510905935
+                ]
+            ],
+            "translation_vector": [
+                0.7099196708933314,
+                0.24763461027829653,
+                0.4544981539241915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274659610215427,
+                    0.10999155297089175,
+                    0.35736360953717455
+                ],
+                [
+                    -0.22237647849295222,
+                    0.6060880209716216,
+                    -0.763679260323192
+                ],
+                [
+                    -0.30059207068627114,
+                    -0.7877557801182772,
+                    -0.5376664746204519
+                ]
+            ],
+            "translation_vector": [
+                0.709925440878897,
+                0.24762070069049175,
+                0.4545075278355778
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274524289556622,
+                    0.10999081389109013,
+                    0.35739895478836803
+                ],
+                [
+                    -0.22239212557571028,
+                    0.6061243707202001,
+                    -0.7636458535872237
+                ],
+                [
+                    -0.30062224552777184,
+                    -0.7877279150053129,
+                    -0.53769042897863
+                ]
+            ],
+            "translation_vector": [
+                0.7099204465182931,
+                0.24764266729221146,
+                0.4545069429517889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274438682426863,
+                    0.11000819305337332,
+                    0.35741582046710585
+                ],
+                [
+                    -0.2224048778940931,
+                    0.606101751032617,
+                    -0.763660093028377
+                ],
+                [
+                    -0.30063922157289513,
+                    -0.7877428926092114,
+                    -0.5376589937829707
+                ]
+            ],
+            "translation_vector": [
+                0.7099240301730947,
+                0.24763996755220596,
+                0.4545155651143946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274546513071061,
+                    0.11002507460049171,
+                    0.35738264189516894
+                ],
+                [
+                    -0.2223546737911326,
+                    0.6061368542814511,
+                    -0.7636468509232694
+                ],
+                [
+                    -0.3006430920743953,
+                    -0.787713524602024,
+                    -0.5376998552603521
+                ]
+            ],
+            "translation_vector": [
+                0.7099195464891838,
+                0.2476312013330596,
+                0.45450707355114656
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274508163714202,
+                    0.1099340114127863,
+                    0.35742061544723397
+                ],
+                [
+                    -0.22242531239638813,
+                    0.6061677984944502,
+                    -0.7636017158661713
+                ],
+                [
+                    -0.3006026673490362,
+                    -0.7877024268104582,
+                    -0.5377387127402674
+                ]
+            ],
+            "translation_vector": [
+                0.70992591853745,
+                0.24766146042333867,
+                0.4545021189002779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274743151994166,
+                    0.1099802228989728,
+                    0.3573454144332422
+                ],
+                [
+                    -0.22235940803936843,
+                    0.606110182637895,
+                    -0.7636666420363271
+                ],
+                [
+                    -0.30057892191861196,
+                    -0.787740310682239,
+                    -0.5376964893176216
+                ]
+            ],
+            "translation_vector": [
+                0.7099230060630614,
+                0.2476219735361864,
+                0.4544972167407063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274541851017153,
+                    0.11002115981176984,
+                    0.35738505694976375
+                ],
+                [
+                    -0.22236586734957847,
+                    0.6061185006907289,
+                    -0.7636581592298302
+                ],
+                [
+                    -0.3006362512658487,
+                    -0.7877281939311909,
+                    -0.5376821895048428
+                ]
+            ],
+            "translation_vector": [
+                0.7099284324204554,
+                0.2476248526255868,
+                0.45450824669590734
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274349503961574,
+                    0.10996449417058021,
+                    0.3574524063501119
+                ],
+                [
+                    -0.2224533334154227,
+                    0.6061180694754321,
+                    -0.7636330272504864
+                ],
+                [
+                    -0.3006308820398261,
+                    -0.7877364380788691,
+                    -0.5376731134125757
+                ]
+            ],
+            "translation_vector": [
+                0.709934304719894,
+                0.24765676161693545,
+                0.45451528148601317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274486551291422,
+                    0.10989972157499521,
+                    0.35743676824983184
+                ],
+                [
+                    -0.22245505841614485,
+                    0.6061752042269998,
+                    -0.7635871716873097
+                ],
+                [
+                    -0.300587323558754,
+                    -0.7877015126163551,
+                    -0.5377486289500805
+                ]
+            ],
+            "translation_vector": [
+                0.7099446574259677,
+                0.24765170780405815,
+                0.45449079984710045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927444915676097,
+                    0.10994486218650966,
+                    0.3574325889805617
+                ],
+                [
+                    -0.2224359309888722,
+                    0.6061498253339348,
+                    -0.7636128900514674
+                ],
+                [
+                    -0.30061301533977447,
+                    -0.7877147431186178,
+                    -0.5377148858660125
+                ]
+            ],
+            "translation_vector": [
+                0.7099342370819087,
+                0.2476486035378433,
+                0.4544953999776736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274393981063992,
+                    0.10995931966888453,
+                    0.35744245810759073
+                ],
+                [
+                    -0.22243593103473858,
+                    0.6061498254625504,
+                    -0.763612889936013
+                ],
+                [
+                    -0.3006300374625757,
+                    -0.7877127249890511,
+                    -0.5377083256427917
+                ]
+            ],
+            "translation_vector": [
+                0.7099367251239097,
+                0.2476486035966198,
+                0.4545026898228097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274633612085933,
+                    0.10994074441691233,
+                    0.35738599067774535
+                ],
+                [
+                    -0.222412591044034,
+                    0.6061165100145546,
+                    -0.7636461324676871
+                ],
+                [
+                    -0.3005733736722827,
+                    -0.7877409529819001,
+                    -0.5376986498350455
+                ]
+            ],
+            "translation_vector": [
+                0.7099334325368004,
+                0.24763532080777179,
+                0.45449655165455016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274527353432028,
+                    0.10992142365627364,
+                    0.35741950747796236
+                ],
+                [
+                    -0.22244198741884255,
+                    0.6061402506305532,
+                    -0.7636187260660169
+                ],
+                [
+                    -0.3005844073427074,
+                    -0.7877253818348809,
+                    -0.5377152935109109
+                ]
+            ],
+            "translation_vector": [
+                0.7099379397709007,
+                0.24765190874535586,
+                0.45450075572106535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274651788390744,
+                    0.11000720784727415,
+                    0.35736082082770426
+                ],
+                [
+                    -0.22236441212842667,
+                    0.6060905684594987,
+                    -0.7636807520444792
+                ],
+                [
+                    -0.30060341025973597,
+                    -0.787751634111976,
+                    -0.5376662093661165
+                ]
+            ],
+            "translation_vector": [
+                0.7099232604656944,
+                0.2476279656221252,
+                0.4545135409433781
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274612155952089,
+                    0.10994243496366057,
+                    0.3573910387249785
+                ],
+                [
+                    -0.22242061629622142,
+                    0.6061038805574706,
+                    -0.7636538190957897
+                ],
+                [
+                    -0.3005740557883645,
+                    -0.7877504344444611,
+                    -0.5376843776970803
+                ]
+            ],
+            "translation_vector": [
+                0.7099340504667377,
+                0.247636067405001,
+                0.4545006920520616
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274375079161477,
+                    0.10995703029026882,
+                    0.3574480667174338
+                ],
+                [
+                    -0.22244523493676616,
+                    0.6061409185568691,
+                    -0.7636172498738897
+                ],
+                [
+                    -0.30062898457103737,
+                    -0.7877198984034747,
+                    -0.5376984055165193
+                ]
+            ],
+            "translation_vector": [
+                0.7099370075051002,
+                0.2476533036379437,
+                0.4545058132093741
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274559433951637,
+                    0.10996695178583246,
+                    0.35739717762724416
+                ],
+                [
+                    -0.22238936408522988,
+                    0.6061629152148228,
+                    -0.7636160625340691
+                ],
+                [
+                    -0.3006134458116513,
+                    -0.7877015867276139,
+                    -0.5377339179036835
+                ]
+            ],
+            "translation_vector": [
+                0.7099227927451646,
+                0.2476525007018561,
+                0.4544934890355472
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274712322039731,
+                    0.1099814720113233,
+                    0.35735303167633276
+                ],
+                [
+                    -0.2223596288533489,
+                    0.6061242007285338,
+                    -0.7636554515927959
+                ],
+                [
+                    -0.30058827137838323,
+                    -0.7877293501612205,
+                    -0.537707320021159
+                ]
+            ],
+            "translation_vector": [
+                0.7099192972902164,
+                0.24763727711175096,
+                0.4545048182707502
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274650453494105,
+                    0.10996494072446625,
+                    0.3573741757129086
+                ],
+                [
+                    -0.22240741743475514,
+                    0.6060689337460567,
+                    -0.7636853987198664
+                ],
+                [
+                    -0.3005720052250687,
+                    -0.7877741804345857,
+                    -0.5376507326467609
+                ]
+            ],
+            "translation_vector": [
+                0.7099272216984575,
+                0.247636262597735,
+                0.45451118900738946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274499085092603,
+                    0.10994469619626403,
+                    0.35741968466282914
+                ],
+                [
+                    -0.22244448082086946,
+                    0.6060998217252813,
+                    -0.7636500894106651
+                ],
+                [
+                    -0.3005912842357524,
+                    -0.7877532417469916,
+                    -0.5376706333422049
+                ]
+            ],
+            "translation_vector": [
+                0.7099408793022314,
+                0.24764141337341822,
+                0.4545097181473273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274695726744013,
+                    0.10992454799044207,
+                    0.3573748529377255
+                ],
+                [
+                    -0.2223974583472159,
+                    0.606155993293696,
+                    -0.7636191998076214
+                ],
+                [
+                    -0.3005654043363312,
+                    -0.787712831902103,
+                    -0.5377442999910904
+                ]
+            ],
+            "translation_vector": [
+                0.7099303914241643,
+                0.24764269633546027,
+                0.4544905768727948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274527200372613,
+                    0.10986556656256576,
+                    0.35743672080435684
+                ],
+                [
+                    -0.22247336034918658,
+                    0.606177448420522,
+                    -0.7635800579908611
+                ],
+                [
+                    -0.3005612350760263,
+                    -0.7877045501393731,
+                    -0.5377587615830186
+                ]
+            ],
+            "translation_vector": [
+                0.7099480927690742,
+                0.24765933026181977,
+                0.4544883759949068
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274742935428918,
+                    0.10991455578280626,
+                    0.3573656744067378
+                ],
+                [
+                    -0.2224054397991355,
+                    0.6061299876843402,
+                    -0.7636375176597436
+                ],
+                [
+                    -0.3005449303596174,
+                    -0.7877342371998634,
+                    -0.5377243870034932
+                ]
+            ],
+            "translation_vector": [
+                0.7099330003383701,
+                0.24763486307542326,
+                0.45448522734813823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274691364211219,
+                    0.10987534547337256,
+                    0.35739111550703884
+                ],
+                [
+                    -0.2224242303318508,
+                    0.6061934001023939,
+                    -0.7635817071103674
+                ],
+                [
+                    -0.3005469393414984,
+                    -0.7876909102747132,
+                    -0.5377867301477898
+                ]
+            ],
+            "translation_vector": [
+                0.7099381745670578,
+                0.24765261000372524,
+                0.45447586084928987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274696144252731,
+                    0.10996081724123806,
+                    0.35736358654663514
+                ],
+                [
+                    -0.222391394394856,
+                    0.6060941500452768,
+                    -0.7636700524310256
+                ],
+                [
+                    -0.30056976231308924,
+                    -0.7877553553943843,
+                    -0.5376795681728296
+                ]
+            ],
+            "translation_vector": [
+                0.7099260696657083,
+                0.24763477173863496,
+                0.45450237285869005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274653306656224,
+                    0.10996419293330416,
+                    0.35737366535019766
+                ],
+                [
+                    -0.22240741743580333,
+                    0.6060689337433098,
+                    -0.763685398721741
+                ],
+                [
+                    -0.3005711248321175,
+                    -0.7877742848200716,
+                    -0.5376510718796912
+                ]
+            ],
+            "translation_vector": [
+                0.7099273033439326,
+                0.24763626259803487,
+                0.45451071575636026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274524536308678,
+                    0.10995937341654125,
+                    0.35740856516307085
+                ],
+                [
+                    -0.2224229415707445,
+                    0.6061106581066974,
+                    -0.7636477625138989
+                ],
+                [
+                    -0.3005993701209312,
+                    -0.7877428554593869,
+                    -0.5376813297442934
+                ]
+            ],
+            "translation_vector": [
+                0.7099375676664217,
+                0.2476372576500391,
+                0.45450783380822096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274630032493871,
+                    0.1099685208795292,
+                    0.35737837374300574
+                ],
+                [
+                    -0.22239271564223095,
+                    0.6061112500373806,
+                    -0.7636560957704704
+                ],
+                [
+                    -0.30058918415821423,
+                    -0.7877411230814935,
+                    -0.5376895622693516
+                ]
+            ],
+            "translation_vector": [
+                0.7099237430221433,
+                0.2476473045169315,
+                0.4545107693425399
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274673163593483,
+                    0.10994632437439789,
+                    0.3573740097457406
+                ],
+                [
+                    -0.2223999508448756,
+                    0.606115564937547,
+                    -0.7636505639391854
+                ],
+                [
+                    -0.3005705224225855,
+                    -0.7877409013736679,
+                    -0.537700319279816
+                ]
+            ],
+            "translation_vector": [
+                0.7099334943665854,
+                0.24763220058250202,
+                0.4544982878125562
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274653093397403,
+                    0.10991145790876793,
+                    0.35738994304779936
+                ],
+                [
+                    -0.22243768390504562,
+                    0.606102411329885,
+                    -0.7636500139193728
+                ],
+                [
+                    -0.3005487926282506,
+                    -0.7877558875695367,
+                    -0.5376905102837808
+                ]
+            ],
+            "translation_vector": [
+                0.709937912487991,
+                0.2476397476097967,
+                0.45449872788263557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274661272723926,
+                    0.10999687273639472,
+                    0.35736154067073805
+                ],
+                [
+                    -0.22238043524834805,
+                    0.6060653519241567,
+                    -0.7636960987302501
+                ],
+                [
+                    -0.30058863049208207,
+                    -0.7877724780577587,
+                    -0.5376439323880007
+                ]
+            ],
+            "translation_vector": [
+                0.7099219245463415,
+                0.24762945639021428,
+                0.45451514380454555
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274414142405263,
+                    0.10999149320772367,
+                    0.35742732768140173
+                ],
+                [
+                    -0.22242553896044032,
+                    0.6060970324864585,
+                    -0.7636578205120845
+                ],
+                [
+                    -0.3006315066151425,
+                    -0.7877488550502912,
+                    -0.5376545718184357
+                ]
+            ],
+            "translation_vector": [
+                0.7099340430592305,
+                0.24764393011862737,
+                0.4545282356772542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274639987276869,
+                    0.1099878112496414,
+                    0.3573698538497095
+                ],
+                [
+                    -0.22239285623620506,
+                    0.6060640849534448,
+                    -0.7636934872215729
+                ],
+                [
+                    -0.3005860085884772,
+                    -0.7877747179911637,
+                    -0.5376421162211821
+                ]
+            ],
+            "translation_vector": [
+                0.7099258142958483,
+                0.2476356171419689,
+                0.45451869034830233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274666024577018,
+                    0.10998993646611711,
+                    0.3573624423491462
+                ],
+                [
+                    -0.22238107769390855,
+                    0.6060758298754649,
+                    -0.7636875962882091
+                ],
+                [
+                    -0.30058668900878366,
+                    -0.7877653853254447,
+                    -0.5376554101595099
+                ]
+            ],
+            "translation_vector": [
+                0.7099298072520036,
+                0.2476203181573241,
+                0.45451068933879357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274596999431779,
+                    0.10996153584964678,
+                    0.3573890955455936
+                ],
+                [
+                    -0.22242093163244772,
+                    0.6060707274812772,
+                    -0.7636800393241073
+                ],
+                [
+                    -0.3005784991529911,
+                    -0.7877732757106596,
+                    -0.5376484278067157
+                ]
+            ],
+            "translation_vector": [
+                0.7099325666910454,
+                0.24763967163819448,
+                0.4545151236254946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274527030553272,
+                    0.11001326231332913,
+                    0.3573913341290546
+                ],
+                [
+                    -0.2223899174946651,
+                    0.6060806553776839,
+                    -0.763681192497022
+                ],
+                [
+                    -0.30062303336917306,
+                    -0.7877584155641475,
+                    -0.5376453017703969
+                ]
+            ],
+            "translation_vector": [
+                0.7099276327406421,
+                0.2476270898866651,
+                0.45451469203286643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274452068768035,
+                    0.10999701849933843,
+                    0.3574157861126167
+                ],
+                [
+                    -0.22242162608667815,
+                    0.6060742464941125,
+                    -0.7636770442965746
+                ],
+                [
+                    -0.3006227012223153,
+                    -0.7877656146709189,
+                    -0.5376349392031256
+                ]
+            ],
+            "translation_vector": [
+                0.7099358955679764,
+                0.2476304498310982,
+                0.4545151427627069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274379501135971,
+                    0.11000622727462749,
+                    0.3574317818128269
+                ],
+                [
+                    -0.22241843816477438,
+                    0.6061035513822589,
+                    -0.763654714754094
+                ],
+                [
+                    -0.3006474464442227,
+                    -0.7877417819073819,
+                    -0.5376560219917116
+                ]
+            ],
+            "translation_vector": [
+                0.7099292210669373,
+                0.24764338831284233,
+                0.45452043857771174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274600991963087,
+                    0.10997790371915576,
+                    0.35738302294920765
+                ],
+                [
+                    -0.22240741748272577,
+                    0.6060689338691893,
+                    -0.7636853986081765
+                ],
+                [
+                    -0.30058726694162935,
+                    -0.7877723707342148,
+                    -0.5376448519797778
+                ]
+            ],
+            "translation_vector": [
+                0.7099298727626733,
+                0.2476362626571085,
+                0.45451730334278784
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927433015633476,
+                    0.10999401172201229,
+                    0.3574483443776105
+                ],
+                [
+                    -0.2224441002471689,
+                    0.6060900327996337,
+                    -0.7636579695165677
+                ],
+                [
+                    -0.30064368241861406,
+                    -0.787753888931205,
+                    -0.5376403878946769
+                ]
+            ],
+            "translation_vector": [
+                0.7099419836718568,
+                0.24763766229829692,
+                0.45452133908519116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274733444666414,
+                    0.10996529449435671,
+                    0.3573525280596633
+                ],
+                [
+                    -0.22237296841837026,
+                    0.606111983062475,
+                    -0.7636612645046736
+                ],
+                [
+                    -0.3005718852798204,
+                    -0.7877410094662103,
+                    -0.5376993990925517
+                ]
+            ],
+            "translation_vector": [
+                0.7099255460027528,
+                0.24762539412628048,
+                0.45449612835888564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274638297126551,
+                    0.10998237933316854,
+                    0.3573719642206849
+                ],
+                [
+                    -0.22238899176629237,
+                    0.6060867670880765,
+                    -0.7636766115980615
+                ],
+                [
+                    -0.3005893892270774,
+                    -0.7877580256632993,
+                    -0.5376646836897081
+                ]
+            ],
+            "translation_vector": [
+                0.7099293493365562,
+                0.24762688484733983,
+                0.45451105888301874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274465354791875,
+                    0.10999786847328247,
+                    0.3574120769629744
+                ],
+                [
+                    -0.22242000812978685,
+                    0.6060692311990798,
+                    -0.7636814957672491
+                ],
+                [
+                    -0.3006197994331016,
+                    -0.7877693545226875,
+                    -0.5376310819360344
+                ]
+            ],
+            "translation_vector": [
+                0.709933958424546,
+                0.24763268877759606,
+                0.45452514223120594
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274564953563718,
+                    0.10998957344017747,
+                    0.3573887840373906
+                ],
+                [
+                    -0.22239363427632933,
+                    0.6061002995142682,
+                    -0.7636645195123847
+                ],
+                [
+                    -0.30060858380066774,
+                    -0.7877466094266372,
+                    -0.5376706786520862
+                ]
+            ],
+            "translation_vector": [
+                0.7099311597191355,
+                0.24762926105402988,
+                0.4545123336813438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274538657975266,
+                    0.109967105027039,
+                    0.3574025218562338
+                ],
+                [
+                    -0.22240741012367118,
+                    0.6061269321437959,
+                    -0.7636393691082407
+                ],
+                [
+                    -0.3006065048186826,
+                    -0.7877292542123359,
+                    -0.5376972673528971
+                ]
+            ],
+            "translation_vector": [
+                0.7099350550574638,
+                0.24763230453378454,
+                0.4544973400396733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274504665490282,
+                    0.11001106340887243,
+                    0.35739781480255206
+                ],
+                [
+                    -0.2224041227283358,
+                    0.6060606529726971,
+                    -0.7636929298558078
+                ],
+                [
+                    -0.3006194243415245,
+                    -0.787774111561149,
+                    -0.5376243213086749
+                ]
+            ],
+            "translation_vector": [
+                0.7099303075380126,
+                0.24762807804904868,
+                0.45452708076372256
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274496838318855,
+                    0.11001774221156821,
+                    0.35739779008662753
+                ],
+                [
+                    -0.2224045117621165,
+                    0.606049744940408,
+                    -0.7637014729627812
+                ],
+                [
+                    -0.3006215513032802,
+                    -0.7877815706503524,
+                    -0.5376122020896419
+                ]
+            ],
+            "translation_vector": [
+                0.7099303467663601,
+                0.24762687711167775,
+                0.4545341706598204
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274762315578219,
+                    0.10999002347920303,
+                    0.35733742405511654
+                ],
+                [
+                    -0.22235149399574428,
+                    0.6060992455117092,
+                    -0.7636776268216832
+                ],
+                [
+                    -0.30057886321756266,
+                    -0.7877473575488412,
+                    -0.5376861981320112
+                ]
+            ],
+            "translation_vector": [
+                0.7099232190099548,
+                0.24761540682146493,
+                0.45449849587103797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274469796363062,
+                    0.11000665962497597,
+                    0.3574082187102704
+                ],
+                [
+                    -0.22240965757600328,
+                    0.6060750832713477,
+                    -0.7636798659481306
+                ],
+                [
+                    -0.3006260869924943,
+                    -0.7877636246208531,
+                    -0.5376359619145631
+                ]
+            ],
+            "translation_vector": [
+                0.7099349623867527,
+                0.24763075193761536,
+                0.4545273406292781
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274461828824562,
+                    0.10997397969535988,
+                    0.3574203430790232
+                ],
+                [
+                    -0.22243663951586978,
+                    0.6060786645506607,
+                    -0.7636691651345987
+                ],
+                [
+                    -0.3006085814770581,
+                    -0.7877654321982227,
+                    -0.5376431014863845
+                ]
+            ],
+            "translation_vector": [
+                0.7099403412756169,
+                0.24763755837960094,
+                0.45452283632856366
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274526119308693,
+                    0.1100093727141504,
+                    0.3573927678866038
+                ],
+                [
+                    -0.22239609736896251,
+                    0.6060732829625343,
+                    -0.7636852437713273
+                ],
+                [
+                    -0.30061874275843753,
+                    -0.7877646308346521,
+                    -0.5376385941394844
+                ]
+            ],
+            "translation_vector": [
+                0.7099296898349703,
+                0.24762733126531306,
+                0.45452294036598967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274553847670722,
+                    0.1100169296859566,
+                    0.357383245898626
+                ],
+                [
+                    -0.22238818377864047,
+                    0.6060623453412055,
+                    -0.763696228401814
+                ],
+                [
+                    -0.3006160424564866,
+                    -0.7877719903258767,
+                    -0.5376293205134995
+                ]
+            ],
+            "translation_vector": [
+                0.7099301477564054,
+                0.24762076470763822,
+                0.45452249452283233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274624131799624,
+                    0.10992157031106164,
+                    0.35739434875044024
+                ],
+                [
+                    -0.22243185652612923,
+                    0.6061122968316109,
+                    -0.7636438651831419
+                ],
+                [
+                    -0.30056204241510676,
+                    -0.7877468705173379,
+                    -0.5376963145209387
+                ]
+            ],
+            "translation_vector": [
+                0.7099311575314249,
+                0.24764686978549733,
+                0.4545013352004868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274415526546651,
+                    0.10995602843520273,
+                    0.3574378802257271
+                ],
+                [
+                    -0.22246155090385553,
+                    0.6060776605578638,
+                    -0.7636627054807367
+                ],
+                [
+                    -0.3006044324007143,
+                    -0.7877687104623184,
+                    -0.5376406179201687
+                ]
+            ],
+            "translation_vector": [
+                0.7099433140260629,
+                0.24764014097881043,
+                0.4545198767514046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274549847865475,
+                    0.1100005059855964,
+                    0.357389339345059
+                ],
+                [
+                    -0.2224017438369221,
+                    0.6060641457178874,
+                    -0.7636908508117299
+                ],
+                [
+                    -0.3006072446447041,
+                    -0.7877728987202851,
+                    -0.5376329086923147
+                ]
+            ],
+            "translation_vector": [
+                0.7099328511035513,
+                0.24762418525967275,
+                0.4545202307717688
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274380489502844,
+                    0.10999369114856829,
+                    0.3574353833447433
+                ],
+                [
+                    -0.2224169746809163,
+                    0.6061336155569115,
+                    -0.7636312784752174
+                ],
+                [
+                    -0.3006482242307092,
+                    -0.7877203996339183,
+                    -0.5376869137960321
+                ]
+            ],
+            "translation_vector": [
+                0.7099319644769283,
+                0.2476425433876172,
+                0.45451133449723197
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274524971334936,
+                    0.10999220120838342,
+                    0.35739835091139
+                ],
+                [
+                    -0.22240965753013547,
+                    0.6060750831427204,
+                    -0.7636798660635703
+                ],
+                [
+                    -0.3006090647305475,
+                    -0.7877656436192677,
+                    -0.5376425215093636
+                ]
+            ],
+            "translation_vector": [
+                0.7099324747939474,
+                0.24763075187884287,
+                0.45452012710657835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274393300805014,
+                    0.1100122335601705,
+                    0.3574263525356424
+                ],
+                [
+                    -0.22241711866275235,
+                    0.606086450811244,
+                    -0.7636686712631263
+                ],
+                [
+                    -0.3006441656603201,
+                    -0.7877541003448554,
+                    -0.537639807905142
+                ]
+            ],
+            "translation_vector": [
+                0.7099341171941238,
+                0.24763085574885157,
+                0.45451870615814144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274638971805305,
+                    0.1099699263929587,
+                    0.357375621322762
+                ],
+                [
+                    -0.22239131334467166,
+                    0.6061069156616339,
+                    -0.763659944305038
+                ],
+                [
+                    -0.3005874634370751,
+                    -0.7877442618491542,
+                    -0.5376859257486629
+                ]
+            ],
+            "translation_vector": [
+                0.7099231574331737,
+                0.24763664238236016,
+                0.45450747738996544
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274495457970798,
+                    0.11004047467237905,
+                    0.35739114977104325
+                ],
+                [
+                    -0.22237548383927272,
+                    0.6060780061972781,
+                    -0.7636874979932446
+                ],
+                [
+                    -0.3006434502663248,
+                    -0.7877566529949527,
+                    -0.5376364677680918
+                ]
+            ],
+            "translation_vector": [
+                0.7099221735773182,
+                0.24762338063350797,
+                0.4545173230964267
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274493750099698,
+                    0.1100169304080144,
+                    0.35739884137643035
+                ],
+                [
+                    -0.22240267045821976,
+                    0.6060580339987051,
+                    -0.7636954311757257
+                ],
+                [
+                    -0.3006238662625927,
+                    -0.787775307082688,
+                    -0.5376200857335115
+                ]
+            ],
+            "translation_vector": [
+                0.7099286467552748,
+                0.24762439033717748,
+                0.4545165741241064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274608954984032,
+                    0.11001058349079568,
+                    0.35737089814549133
+                ],
+                [
+                    -0.2223804352952682,
+                    0.6060653520500391,
+                    -0.7636960986166879
+                ],
+                [
+                    -0.30060477261545193,
+                    -0.7877705634031252,
+                    -0.5376377126991145
+                ]
+            ],
+            "translation_vector": [
+                0.7099244938866877,
+                0.2476294564492867,
+                0.4545218075913011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274449626259158,
+                    0.11001494688870177,
+                    0.35741090184952373
+                ],
+                [
+                    -0.2224035586574059,
+                    0.6060846502107159,
+                    -0.763674049497216
+                ],
+                [
+                    -0.30063682142468107,
+                    -0.787755106768614,
+                    -0.5376424400692659
+                ]
+            ],
+            "translation_vector": [
+                0.709928844551934,
+                0.2476274350520801,
+                0.45451430597868747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274600806075851,
+                    0.10999786167000151,
+                    0.3573769288963673
+                ],
+                [
+                    -0.2223818915819119,
+                    0.6060932848336008,
+                    -0.7636735063992116
+                ],
+                [
+                    -0.30060620947648886,
+                    -0.7877508492585984,
+                    -0.5376657942593469
+                ]
+            ],
+            "translation_vector": [
+                0.7099244453456667,
+                0.24762634313449,
+                0.4545038115217096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274375179405304,
+                    0.11001884291435336,
+                    0.3574290202545049
+                ],
+                [
+                    -0.2224210092723453,
+                    0.6060722800602024,
+                    -0.7636787845533612
+                ],
+                [
+                    -0.30064687750013264,
+                    -0.787764079878243,
+                    -0.5376236690316061
+                ]
+            ],
+            "translation_vector": [
+                0.7099378011065354,
+                0.24762991379786292,
+                0.45453330897588096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274377635608863,
+                    0.10999443888857996,
+                    0.35743589374147705
+                ],
+                [
+                    -0.2224169746798682,
+                    0.606133615559658,
+                    -0.763631278473343
+                ],
+                [
+                    -0.30064910459776334,
+                    -0.7877202952204316,
+                    -0.5376865745045155
+                ]
+            ],
+            "translation_vector": [
+                0.7099318828307934,
+                0.24764254338731725,
+                0.45451188404663095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274603304751846,
+                    0.10998889556745771,
+                    0.357379040021533
+                ],
+                [
+                    -0.22238999267619144,
+                    0.6060898155517458,
+                    -0.7636739007206774
+                ],
+                [
+                    -0.30059944536267047,
+                    -0.7877547704306858,
+                    -0.5376638309495564
+                ]
+            ],
+            "translation_vector": [
+                0.7099307045077898,
+                0.2476241097401306,
+                0.45451185934825455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274465668197898,
+                    0.1100011557374307,
+                    0.357410983925529
+                ],
+                [
+                    -0.2224186839442575,
+                    0.6060655018085578,
+                    -0.7636848411157875
+                ],
+                [
+                    -0.30062068246660884,
+                    -0.7877717646970922,
+                    -0.5376270566287934
+                ]
+            ],
+            "translation_vector": [
+                0.7099343660375054,
+                0.24762872360018473,
+                0.4545256938990098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274397300131854,
+                    0.11002865734075855,
+                    0.35742025929829413
+                ],
+                [
+                    -0.22240355870431677,
+                    0.6060846503365975,
+                    -0.7636740493836491
+                ],
+                [
+                    -0.3006529631796857,
+                    -0.7877531917994077,
+                    -0.5376362195212674
+                ]
+            ],
+            "translation_vector": [
+                0.7099314139068614,
+                0.2476274351111532,
+                0.4545209698858826
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927456082329465,
+                    0.11000048840126839,
+                    0.3573864965294061
+                ],
+                [
+                    -0.22239791592672825,
+                    0.6060680686216148,
+                    -0.7636888523402143
+                ],
+                [
+                    -0.30060669044705035,
+                    -0.7877698831186353,
+                    -0.5376376371774239
+                ]
+            ],
+            "translation_vector": [
+                0.7099257607201493,
+                0.24762783404252822,
+                0.4545114522955626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274472650038545,
+                    0.11000591184383392,
+                    0.35740770836158037
+                ],
+                [
+                    -0.22240965757705156,
+                    0.6060750832686005,
+                    -0.7636798659500051
+                ],
+                [
+                    -0.30062520661669173,
+                    -0.7877637290459404,
+                    -0.5376363011798087
+                ]
+            ],
+            "translation_vector": [
+                0.7099350440475597,
+                0.24763075193791545,
+                0.4545267910769558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274528062303286,
+                    0.10996843261445383,
+                    0.35740486292691864
+                ],
+                [
+                    -0.2224277715979869,
+                    0.6060766694822081,
+                    -0.7636733314260155
+                ],
+                [
+                    -0.300594708265869,
+                    -0.7877677414934401,
+                    -0.5376474744894486
+                ]
+            ],
+            "translation_vector": [
+                0.7099376198264652,
+                0.24763166859648716,
+                0.45451958175497925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274603304751846,
+                    0.10998889556745771,
+                    0.357379040021533
+                ],
+                [
+                    -0.22238999267619144,
+                    0.6060898155517458,
+                    -0.7636739007206774
+                ],
+                [
+                    -0.30059944536267047,
+                    -0.7877547704306858,
+                    -0.5376638309495564
+                ]
+            ],
+            "translation_vector": [
+                0.7099307045077898,
+                0.2476241097401306,
+                0.4545119356421998
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274459676260135,
+                    0.11002148059451947,
+                    0.3574062827400176
+                ],
+                [
+                    -0.22240274509714228,
+                    0.6060671944395283,
+                    -0.763688139751728
+                ],
+                [
+                    -0.3006343229032627,
+                    -0.787767624132897,
+                    -0.5376254962894784
+                ]
+            ],
+            "translation_vector": [
+                0.7099366938326104,
+                0.24762141025845452,
+                0.4545283211969064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274435931083498,
+                    0.11003029129097189,
+                    0.3574097321012645
+                ],
+                [
+                    -0.22239714463016283,
+                    0.6060763377518175,
+                    -0.7636825144506686
+                ],
+                [
+                    -0.30064579102762146,
+                    -0.7877593590785,
+                    -0.5376311937765582
+                ]
+            ],
+            "translation_vector": [
+                0.709933541692432,
+                0.2476245678790017,
+                0.45453102301567305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274541468763432,
+                    0.109969558746168,
+                    0.35740103747897534
+                ],
+                [
+                    -0.22241000896375476,
+                    0.6061133053561072,
+                    -0.7636494280643688
+                ],
+                [
+                    -0.3006037148050858,
+                    -0.7877393967674005,
+                    -0.5376839679829734
+                ]
+            ],
+            "translation_vector": [
+                0.7099266370000471,
+                0.24763897694847434,
+                0.4545029179428403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274631032301466,
+                    0.10999645273142902,
+                    0.35736951819259716
+                ],
+                [
+                    -0.22238207878379854,
+                    0.6060788782893587,
+                    -0.7636848854909394
+                ],
+                [
+                    -0.3005967451295887,
+                    -0.7877621301370201,
+                    -0.537654557443236
+                ]
+            ],
+            "translation_vector": [
+                0.7099311623882123,
+                0.24761754305155614,
+                0.4545114898372935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274530915680909,
+                    0.10996768482940424,
+                    0.3574043525673007
+                ],
+                [
+                    -0.22242777159903515,
+                    0.606076669479461,
+                    -0.7636733314278902
+                ],
+                [
+                    -0.3005938278845361,
+                    -0.7877678458822407,
+                    -0.5376478137515087
+                ]
+            ],
+            "translation_vector": [
+                0.7099377014799071,
+                0.24763166859678715,
+                0.4545190322001346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274454721179811,
+                    0.10999440205549667,
+                    0.3574159030657548
+                ],
+                [
+                    -0.22242000384020197,
+                    0.6060826028444974,
+                    -0.7636708848849512
+                ],
+                [
+                    -0.3006230831782214,
+                    -0.7877595509073143,
+                    -0.5376436104100255
+                ]
+            ],
+            "translation_vector": [
+                0.7099295516152796,
+                0.24764125602241185,
+                0.45452687666839675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274533769050177,
+                    0.10996693704425545,
+                    0.3574038422073605
+                ],
+                [
+                    -0.22242777160008312,
+                    0.606076669476714,
+                    -0.7636733314297648
+                ],
+                [
+                    -0.3005929475029318,
+                    -0.7877679502703311,
+                    -0.5376481530130843
+                ]
+            ],
+            "translation_vector": [
+                0.7099377831328273,
+                0.24763166859708696,
+                0.4545184826452124
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274607141160692,
+                    0.10997561370796644,
+                    0.3573821318433075
+                ],
+                [
+                    -0.22238853037505604,
+                    0.6061198804379132,
+                    -0.763650464607698
+                ],
+                [
+                    -0.3005993435271173,
+                    -0.7877334923230612,
+                    -0.5376950620412839
+                ]
+            ],
+            "translation_vector": [
+                0.7099335293409607,
+                0.24762326466716872,
+                0.4545022819645203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274534011192437,
+                    0.11000175130616224,
+                    0.3573930657720213
+                ],
+                [
+                    -0.22239664005555135,
+                    0.6060837273371203,
+                    -0.7636767967858817
+                ],
+                [
+                    -0.30061590650587444,
+                    -0.7877576595417658,
+                    -0.5376503943911237
+                ]
+            ],
+            "translation_vector": [
+                0.7099376269758929,
+                0.24761818862045967,
+                0.45451786598695787
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274360542543436,
+                    0.10999895254289693,
+                    0.3574389398325259
+                ],
+                [
+                    -0.22243456494514374,
+                    0.6060874515200415,
+                    -0.7636627956288081
+                ],
+                [
+                    -0.30064136373227024,
+                    -0.7877551850349241,
+                    -0.5376397854175172
+                ]
+            ],
+            "translation_vector": [
+                0.7099360975847337,
+                0.2476419017522345,
+                0.45453270334840007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274635017741377,
+                    0.11001282057626663,
+                    0.35736344550850274
+                ],
+                [
+                    -0.2223685647489737,
+                    0.6060770836420186,
+                    -0.7636902448607469
+                ],
+                [
+                    -0.30060551273776703,
+                    -0.7877612252407707,
+                    -0.5376509813241526
+                ]
+            ],
+            "translation_vector": [
+                0.7099284681864744,
+                0.24761413412197902,
+                0.4545137459161617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274574233980519,
+                    0.11001270837183474,
+                    0.3573792548267743
+                ],
+                [
+                    -0.22238345688101102,
+                    0.6060723368800137,
+                    -0.7636896755714662
+                ],
+                [
+                    -0.30061324969052566,
+                    -0.787764892887144,
+                    -0.5376412815670024
+                ]
+            ],
+            "translation_vector": [
+                0.709929996473672,
+                0.2476242110024517,
+                0.4545230277838867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274468521822085,
+                    0.11000040794856218,
+                    0.3574104735852927
+                ],
+                [
+                    -0.2224186839453058,
+                    0.6060655018058111,
+                    -0.7636848411176623
+                ],
+                [
+                    -0.30061980209119865,
+                    -0.787771869116955,
+                    -0.5376273958966641
+                ]
+            ],
+            "translation_vector": [
+                0.7099344476967492,
+                0.2476287236004847,
+                0.45452514434725383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274626794117198,
+                    0.10997597692558544,
+                    0.35737691978875336
+                ],
+                [
+                    -0.22240157089849696,
+                    0.606073923765372,
+                    -0.7636831412264694
+                ],
+                [
+                    -0.30058363155753315,
+                    -0.7877688007473449,
+                    -0.5376521152276592
+                ]
+            ],
+            "translation_vector": [
+                0.7099324905618423,
+                0.24762512751634622,
+                0.4545163680409875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274626553195819,
+                    0.10999899771612681,
+                    0.35736989728990587
+                ],
+                [
+                    -0.22238345683409244,
+                    0.6060723367541322,
+                    -0.7636896756850294
+                ],
+                [
+                    -0.30059710762758457,
+                    -0.7877668075787616,
+                    -0.5376475014013335
+                ]
+            ],
+            "translation_vector": [
+                0.7099274271610394,
+                0.24762421094337905,
+                0.45451636390908146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274597961559121,
+                    0.1100038418540847,
+                    0.3573758263953731
+                ],
+                [
+                    -0.22238910312980223,
+                    0.6060632000313566,
+                    -0.7636952824110375
+                ],
+                [
+                    -0.3006017520300846,
+                    -0.7877731604625114,
+                    -0.5376355962279191
+                ]
+            ],
+            "translation_vector": [
+                0.7099331577711679,
+                0.24762106497001674,
+                0.45452039455203974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274360169532427,
+                    0.1100305372660737,
+                    0.35742931514754617
+                ],
+                [
+                    -0.22241958310799578,
+                    0.6060594338195909,
+                    -0.7636893947989213
+                ],
+                [
+                    -0.300652562782974,
+                    -0.7877723297674375,
+                    -0.53760840111071
+                ]
+            ],
+            "translation_vector": [
+                0.7099328105281268,
+                0.2476289261644994,
+                0.45452821374533425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274380447928587,
+                    0.11002458660045092,
+                    0.35742588520447083
+                ],
+                [
+                    -0.22241421157313004,
+                    0.6060748700211113,
+                    -0.7636787088947788
+                ],
+                [
+                    -0.30065028115919434,
+                    -0.7877612850808887,
+                    -0.5376258607680666
+                ]
+            ],
+            "translation_vector": [
+                0.709942804810086,
+                0.24762824808573702,
+                0.4545407842141086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274549585886676,
+                    0.1099327888086116,
+                    0.357410242905899
+                ],
+                [
+                    -0.222437549650066,
+                    0.6061151502164559,
+                    -0.7636399421086861
+                ],
+                [
+                    -0.3005808315494635,
+                    -0.7877431095368873,
+                    -0.5376913213751815
+                ]
+            ],
+            "translation_vector": [
+                0.7099377152008933,
+                0.2476416257218678,
+                0.45450947187427665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274503093211512,
+                    0.11002358477136799,
+                    0.3573943683582032
+                ],
+                [
+                    -0.22239725662313165,
+                    0.6060527698043942,
+                    -0.7637011853198394
+                ],
+                [
+                    -0.30062498895901235,
+                    -0.7877784276092361,
+                    -0.5376148854030308
+                ]
+            ],
+            "translation_vector": [
+                0.7099322930648111,
+                0.2476187480819545,
+                0.4545264050114529
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274443930253906,
+                    0.11002167568126807,
+                    0.3574103086454713
+                ],
+                [
+                    -0.22241077051507072,
+                    0.606054564318139,
+                    -0.7636958257238571
+                ],
+                [
+                    -0.30063324334587105,
+                    -0.7877773136803556,
+                    -0.5376119018826739
+                ]
+            ],
+            "translation_vector": [
+                0.7099374748055081,
+                0.24762215708470395,
+                0.4545313624951443
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274651800698497,
+                    0.11001052749570935,
+                    0.35735979572150717
+                ],
+                [
+                    -0.2223742375100593,
+                    0.6060577185574876,
+                    -0.763703961145098
+                ],
+                [
+                    -0.3005961381152813,
+                    -0.7877764439338164,
+                    -0.5376339239047047
+                ]
+            ],
+            "translation_vector": [
+                0.709928217902614,
+                0.24761368823643148,
+                0.4545169211560683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274515976143782,
+                    0.11000906630959671,
+                    0.3573954943927366
+                ],
+                [
+                    -0.222391039797357,
+                    0.6060928701305187,
+                    -0.7636711715095713
+                ],
+                [
+                    -0.3006256135135331,
+                    -0.7877496036854867,
+                    -0.5376567700615056
+                ]
+            ],
+            "translation_vector": [
+                0.7099346382042507,
+                0.24762134632038046,
+                0.45451946871319315
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274520076727818,
+                    0.10999912378050111,
+                    0.35739749052175623
+                ],
+                [
+                    -0.22241638968474306,
+                    0.606045389399549,
+                    -0.7637014702009903
+                ],
+                [
+                    -0.30060559386566865,
+                    -0.7877875213247997,
+                    -0.5376124051597001
+                ]
+            ],
+            "translation_vector": [
+                0.7099380684553289,
+                0.24761898850870984,
+                0.4545220636311713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274497743058958,
+                    0.11001828276425321,
+                    0.3573973889070095
+                ],
+                [
+                    -0.22239091832245836,
+                    0.6060837038517741,
+                    -0.7636784816747224
+                ],
+                [
+                    -0.3006313283535784,
+                    -0.7877553689965688,
+                    -0.5376451274116071
+                ]
+            ],
+            "translation_vector": [
+                0.7099291511947043,
+                0.2476243147681464,
+                0.454514393392615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274460108597969,
+                    0.10999730931895468,
+                    0.3574136103771642
+                ],
+                [
+                    -0.22242533168431855,
+                    0.6060594130049827,
+                    -0.7636877370582671
+                ],
+                [
+                    -0.30061747914146647,
+                    -0.787776986113866,
+                    -0.5376211969258503
+                ]
+            ],
+            "translation_vector": [
+                0.7099390457856113,
+                0.2476228025878137,
+                0.4545227620537363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274550985129668,
+                    0.1100026060136644,
+                    0.3573883978426069
+                ],
+                [
+                    -0.22238999272310925,
+                    0.6060898156776243,
+                    -0.7636739006071106
+                ],
+                [
+                    -0.3006155873851493,
+                    -0.7877528559148904,
+                    -0.5376576109560952
+                ]
+            ],
+            "translation_vector": [
+                0.7099332739007328,
+                0.24762410979920418,
+                0.4545186758718517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927457852746486,
+                    0.11002289145876883,
+                    0.3573750057487646
+                ],
+                [
+                    -0.22238306301580993,
+                    0.6060492038685471,
+                    -0.7637081482961975
+                ],
+                [
+                    -0.3006122164227261,
+                    -0.7877812677674891,
+                    -0.537617865674183
+                ]
+            ],
+            "translation_vector": [
+                0.7099279514798588,
+                0.2476119032517915,
+                0.45451198548406413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274454401385346,
+                    0.10999880490630766,
+                    0.35741463104554644
+                ],
+                [
+                    -0.22242533168222225,
+                    0.6060594130104762,
+                    -0.7636877370545181
+                ],
+                [
+                    -0.3006192398904192,
+                    -0.7877767772793137,
+                    -0.5376205183836694
+                ]
+            ],
+            "translation_vector": [
+                0.7099388824711248,
+                0.2476228025872138,
+                0.45452378487195505
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274713680043125,
+                    0.10998544300684558,
+                    0.3573514570542526
+                ],
+                [
+                    -0.2223801426659954,
+                    0.606061191903672,
+                    -0.7636994852794864
+                ],
+                [
+                    -0.3005726762033783,
+                    -0.7877772743579805,
+                    -0.5376458242421777
+                ]
+            ],
+            "translation_vector": [
+                0.7099277664714836,
+                0.24761515184584754,
+                0.45451096489077447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274630120048465,
+                    0.10995626036189801,
+                    0.3573821234618833
+                ],
+                [
+                    -0.22241375312840309,
+                    0.6060822654703629,
+                    -0.7636729731381428
+                ],
+                [
+                    -0.3005735912921094,
+                    -0.787765135233554,
+                    -0.53766309890881
+                ]
+            ],
+            "translation_vector": [
+                0.7099390107436131,
+                0.24762188031527893,
+                0.45450868056200455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274616664720713,
+                    0.1099907419862814,
+                    0.35737500458503785
+                ],
+                [
+                    -0.22239470415960888,
+                    0.6060660408662446,
+                    -0.7636913968812769
+                ],
+                [
+                    -0.3005918375249213,
+                    -0.7877728040406213,
+                    -0.5376416617296027
+                ]
+            ],
+            "translation_vector": [
+                0.7099342310644046,
+                0.247615797374318,
+                0.4545173409495892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927428715173996,
+                    0.10995665266615125,
+                    0.3574709957537342
+                ],
+                [
+                    -0.2224682031166407,
+                    0.6061307601847039,
+                    -0.7636186221930201
+                ],
+                [
+                    -0.30063911401007676,
+                    -0.7877277677550593,
+                    -0.5376812132061782
+                ]
+            ],
+            "translation_vector": [
+                0.7099489379249995,
+                0.24764381429465837,
+                0.45452261286433704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274645942457335,
+                    0.1099823740290736,
+                    0.35736998170457235
+                ],
+                [
+                    -0.2223862892843279,
+                    0.6060895792535924,
+                    -0.7636751667158959
+                ],
+                [
+                    -0.30058902967165096,
+                    -0.787755862766589,
+                    -0.5376680536519934
+                ]
+            ],
+            "translation_vector": [
+                0.7099335736629473,
+                0.2476162517342668,
+                0.4545060342077652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274445802908174,
+                    0.11008545766053024,
+                    0.3573901824349141
+                ],
+                [
+                    -0.22236342865286815,
+                    0.6060412710660178,
+                    -0.7637201603744834
+                ],
+                [
+                    -0.30066768380876996,
+                    -0.7877786299312501,
+                    -0.5375907124725209
+                ]
+            ],
+            "translation_vector": [
+                0.7099311518814989,
+                0.24760260125533218,
+                0.45453901052259166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274392202776013,
+                    0.1100641166126185,
+                    0.3574106642577404
+                ],
+                [
+                    -0.2223725751254543,
+                    0.606092916934429,
+                    -0.7636765112755466
+                ],
+                [
+                    -0.3006774526347951,
+                    -0.7877418779500046,
+                    -0.5376391012573876
+                ]
+            ],
+            "translation_vector": [
+                0.7099245581300633,
+                0.24762754208630577,
+                0.45453867004398635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274656900550377,
+                    0.11004395462613924,
+                    0.35734818010026775
+                ],
+                [
+                    -0.22234725551970688,
+                    0.6060541342774636,
+                    -0.7637146615641532
+                ],
+                [
+                    -0.30061452349077783,
+                    -0.7877745327030031,
+                    -0.5376264445606989
+                ]
+            ],
+            "translation_vector": [
+                0.7099227567161972,
+                0.24760688210526183,
+                0.4545219751179078
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274441638800194,
+                    0.11002879573668727,
+                    0.3574087114126153
+                ],
+                [
+                    -0.22239714463225946,
+                    0.6060763377463241,
+                    -0.7636825144544177
+                ],
+                [
+                    -0.3006440302821755,
+                    -0.787759567972829,
+                    -0.5376318723094384
+                ]
+            ],
+            "translation_vector": [
+                0.7099337050205152,
+                0.24762456787960171,
+                0.4545299239136485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274515412198557,
+                    0.11000269370856858,
+                    0.35739760221044165
+                ],
+                [
+                    -0.22240466551804164,
+                    0.6060710973631149,
+                    -0.763684483079811
+                ],
+                [
+                    -0.3006157072488434,
+                    -0.7877672450146228,
+                    -0.5376364610378924
+                ]
+            ],
+            "translation_vector": [
+                0.7099383263968054,
+                0.24761893536434448,
+                0.45452145684352935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274258398956786,
+                    0.1100629215564303,
+                    0.3574457508381639
+                ],
+                [
+                    -0.22241552086842842,
+                    0.6060578562131147,
+                    -0.7636918298627987
+                ],
+                [
+                    -0.3006869594289406,
+                    -0.7877690195868503,
+                    -0.5375940142975477
+                ]
+            ],
+            "translation_vector": [
+                0.7099410431293729,
+                0.2476272517327223,
+                0.45455198000519853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927446538375911,
+                    0.11001998502454377,
+                    0.3574052620621851
+                ],
+                [
+                    -0.22240274509923882,
+                    0.6060671944340349,
+                    -0.7636881397554771
+                ],
+                [
+                    -0.3006325621533088,
+                    -0.7877678330104989,
+                    -0.5376261748158101
+                ]
+            ],
+            "translation_vector": [
+                0.7099368571555641,
+                0.24762141025905443,
+                0.4545272220888976
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274635889526354,
+                    0.11002577204552151,
+                    0.35735923194019176
+                ],
+                [
+                    -0.2223610744863219,
+                    0.6060685463704928,
+                    -0.7636992010298599
+                ],
+                [
+                    -0.30061078443792616,
+                    -0.7877659846592419,
+                    -0.5376410602748549
+                ]
+            ],
+            "translation_vector": [
+                0.7099243353267282,
+                0.24761491222345317,
+                0.454523754265717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274497964978482,
+                    0.11005686208905938,
+                    0.3573854530940093
+                ],
+                [
+                    -0.22237382723097932,
+                    0.6060459250746192,
+                    -0.7637134394935683
+                ],
+                [
+                    -0.3006439022144755,
+                    -0.787779045042174,
+                    -0.5376034042430293
+                ]
+            ],
+            "translation_vector": [
+                0.7099304875207523,
+                0.24761221304370573,
+                0.4545389644251676
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274661196398272,
+                    0.11000109208462741,
+                    0.3573602617253793
+                ],
+                [
+                    -0.22236612790853608,
+                    0.6060938728372232,
+                    -0.7636776299382751
+                ],
+                [
+                    -0.3005992383210689,
+                    -0.7877499457628454,
+                    -0.5376710154652451
+                ]
+            ],
+            "translation_vector": [
+                0.7099263631839837,
+                0.247618763986743,
+                0.45451019933258296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274417331544336,
+                    0.1100312342422525,
+                    0.3574142681743787
+                ],
+                [
+                    -0.22240517004360102,
+                    0.6060637077424161,
+                    -0.7636902006019145
+                ],
+                [
+                    -0.30064559192074825,
+                    -0.7877689443286288,
+                    -0.5376172601488732
+                ]
+            ],
+            "translation_vector": [
+                0.7099342409650028,
+                0.2476253146542906,
+                0.4545346138863005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274695499923388,
+                    0.11002010482578346,
+                    0.3573455055980588
+                ],
+                [
+                    -0.22235072381620744,
+                    0.6060743980443515,
+                    -0.7636975708050838
+                ],
+                [
+                    -0.3006000489943694,
+                    -0.7877622741470303,
+                    -0.5376524992737243
+                ]
+            ],
+            "translation_vector": [
+                0.709922851528931,
+                0.24761297541448385,
+                0.4545185865341084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274423283994317,
+                    0.1100067179638574,
+                    0.3574202701244868
+                ],
+                [
+                    -0.2224232839206308,
+                    0.6060652942679843,
+                    -0.7636836660907607
+                ],
+                [
+                    -0.30063035485959044,
+                    -0.7877711476607165,
+                    -0.5376225522151343
+                ]
+            ],
+            "translation_vector": [
+                0.7099394676962587,
+                0.24762623131819927,
+                0.4545335191849922
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274166816895386,
+                    0.11007277443610342,
+                    0.3574664779415045
+                ],
+                [
+                    -0.22241395065301198,
+                    0.6060921768491749,
+                    -0.7636650494275278
+                ],
+                [
+                    -0.3007163664965459,
+                    -0.787741237647343,
+                    -0.5376182748297791
+                ]
+            ],
+            "translation_vector": [
+                0.7099361428491755,
+                0.2476379510096849,
+                0.45454837498830347
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274673537587284,
+                    0.10999000766193244,
+                    0.357360470570417
+                ],
+                [
+                    -0.2223821513735019,
+                    0.6060686560541043,
+                    -0.7636929768560564
+                ],
+                [
+                    -0.3005835765012365,
+                    -0.7877708945901087,
+                    -0.5376490780931605
+                ]
+            ],
+            "translation_vector": [
+                0.7099251090139874,
+                0.24762025475527588,
+                0.4545112526216889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274559180492651,
+                    0.10997511924467923,
+                    0.35739473026684865
+                ],
+                [
+                    -0.22240012475273951,
+                    0.606117408763713,
+                    -0.7636490498282105
+                ],
+                [
+                    -0.3006055631310919,
+                    -0.7877354631731907,
+                    -0.537688697550877
+                ]
+            ],
+            "translation_vector": [
+                0.709933240278743,
+                0.24763285899871346,
+                0.45451666309925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274530665173895,
+                    0.11002141191215256,
+                    0.35738788217893974
+                ],
+                [
+                    -0.2223845040222987,
+                    0.6060753913539639,
+                    -0.7636869465729373
+                ],
+                [
+                    -0.30062591667760036,
+                    -0.7877613273803156,
+                    -0.5376394231320436
+                ]
+            ],
+            "translation_vector": [
+                0.7099311157726954,
+                0.24762144750192536,
+                0.4545255455353465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274656059172264,
+                    0.10996755269105994,
+                    0.3573719171895447
+                ],
+                [
+                    -0.22239320245944208,
+                    0.6060974679167975,
+                    -0.7636668926205198
+                ],
+                [
+                    -0.3005807933658195,
+                    -0.7877518624160693,
+                    -0.537678519116757
+                ]
+            ],
+            "translation_vector": [
+                0.7099318422701639,
+                0.24762559363680714,
+                0.45450512997897985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274554970728686,
+                    0.11001897386512624,
+                    0.3573823251630992
+                ],
+                [
+                    -0.2223764785867885,
+                    0.6060880212233812,
+                    -0.7636792600960604
+                ],
+                [
+                    -0.3006243548361611,
+                    -0.7877519507555606,
+                    -0.5376540350077836
+                ]
+            ],
+            "translation_vector": [
+                0.7099305797022355,
+                0.24762070080863857,
+                0.4545208555684884
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274449401916566,
+                    0.11004011658154557,
+                    0.35740321159107497
+                ],
+                [
+                    -0.22239010436382037,
+                    0.6060662486892114,
+                    -0.7636925714453665
+                ],
+                [
+                    -0.3006468433127876,
+                    -0.787765748774664,
+                    -0.5376212427569702
+                ]
+            ],
+            "translation_vector": [
+                0.7099394237924714,
+                0.24761828997312418,
+                0.45453621742823924
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274582090041913,
+                    0.10996756495042637,
+                    0.35739110958390086
+                ],
+                [
+                    -0.22241613220524467,
+                    0.6060787723233567,
+                    -0.7636750525412446
+                ],
+                [
+                    -0.30058665087724235,
+                    -0.7877662447692763,
+                    -0.5376541722301765
+                ]
+            ],
+            "translation_vector": [
+                0.7099363857246875,
+                0.24762577310393846,
+                0.4545161564890299
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274599353302165,
+                    0.1099979925010278,
+                    0.3573772656493619
+                ],
+                [
+                    -0.2223936568306594,
+                    0.6060629866223204,
+                    -0.7636941257125922
+                ],
+                [
+                    -0.30059795368358333,
+                    -0.7877741414213706,
+                    -0.5376362825824402
+                ]
+            ],
+            "translation_vector": [
+                0.7099354361216971,
+                0.2476185609180983,
+                0.4545232120451994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274504321724668,
+                    0.11009842391711103,
+                    0.3573710017811642
+                ],
+                [
+                    -0.22233456933201254,
+                    0.6060564105695624,
+                    -0.7637165485227401
+                ],
+                [
+                    -0.30067097489291056,
+                    -0.7877651707574451,
+                    -0.5376085942378904
+                ]
+            ],
+            "translation_vector": [
+                0.709924318871129,
+                0.24760094430541366,
+                0.4545285732859112
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274420185404975,
+                    0.11003048645606123,
+                    0.35741375784344165
+                ],
+                [
+                    -0.22240517004464913,
+                    0.6060637077396696,
+                    -0.7636902006037889
+                ],
+                [
+                    -0.3006447115499265,
+                    -0.787769048777043,
+                    -0.5376175994198614
+                ]
+            ],
+            "translation_vector": [
+                0.7099343226327138,
+                0.24762531465459064,
+                0.45453406433466326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274420185404975,
+                    0.11003048645606123,
+                    0.35741375784344165
+                ],
+                [
+                    -0.22240517004464913,
+                    0.6060637077396696,
+                    -0.7636902006037889
+                ],
+                [
+                    -0.3006447115499265,
+                    -0.787769048777043,
+                    -0.5376175994198614
+                ]
+            ],
+            "translation_vector": [
+                0.7099343226327138,
+                0.24762531465459064,
+                0.45453406433466326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274537148018062,
+                    0.10998217372428022,
+                    0.35739827694494086
+                ],
+                [
+                    -0.2224125792492934,
+                    0.6060820344945916,
+                    -0.7636734983319601
+                ],
+                [
+                    -0.30060314617782563,
+                    -0.7877616955182448,
+                    -0.5376516154371843
+                ]
+            ],
+            "translation_vector": [
+                0.7099352175059686,
+                0.24762550201072553,
+                0.4545157881942625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274370005986678,
+                    0.11003375998025405,
+                    0.3574257707345041
+                ],
+                [
+                    -0.22240038562876072,
+                    0.6060973411510276,
+                    -0.7636649013290014
+                ],
+                [
+                    -0.3006637297592195,
+                    -0.7877427147960576,
+                    -0.5376455494961456
+                ]
+            ],
+            "translation_vector": [
+                0.7099353524460101,
+                0.2476346257335455,
+                0.4545398139074478
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274558392534727,
+                    0.1100289690313488,
+                    0.3573783600171325
+                ],
+                [
+                    -0.2223765902664222,
+                    0.6060644537622829,
+                    -0.7636979311136739
+                ],
+                [
+                    -0.3006232165620555,
+                    -0.787768686772789,
+                    -0.5376301496420747
+                ]
+            ],
+            "translation_vector": [
+                0.709931573628104,
+                0.24761488091691305,
+                0.4545250997711697
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274604891315622,
+                    0.10999843459980126,
+                    0.35737569235391076
+                ],
+                [
+                    -0.22237964217049372,
+                    0.6060956675621811,
+                    -0.7636722703558627
+                ],
+                [
+                    -0.30060661311416126,
+                    -0.787748935986554,
+                    -0.5376683717721229
+                ]
+            ],
+            "translation_vector": [
+                0.7099316268109482,
+                0.2476221730332192,
+                0.4545146072036943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274514359051099,
+                    0.11002593555832722,
+                    0.3573907211191489
+                ],
+                [
+                    -0.22239060872107133,
+                    0.6060588586404501,
+                    -0.7636982892583346
+                ],
+                [
+                    -0.3006264312901009,
+                    -0.7877734149918685,
+                    -0.5376214239051754
+                ]
+            ],
+            "translation_vector": [
+                0.7099277766533737,
+                0.24762466910312406,
+                0.45452823766361866
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274644959660812,
+                    0.10999490763697059,
+                    0.3573663792472891
+                ],
+                [
+                    -0.22238775155951004,
+                    0.6060595134062412,
+                    -0.7636986016525733
+                ],
+                [
+                    -0.30058825106562065,
+                    -0.7877772442154728,
+                    -0.5376371609343861
+                ]
+            ],
+            "translation_vector": [
+                0.7099308305096076,
+                0.24761709717868674,
+                0.4545152146067882
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274479358790301,
+                    0.11009009324216319,
+                    0.3573800464542732
+                ],
+                [
+                    -0.2223425095411729,
+                    0.6060673864418289,
+                    -0.7637055267198901
+                ],
+                [
+                    -0.3006728033671488,
+                    -0.7877578907643537,
+                    -0.5376182389519883
+                ]
+            ],
+            "translation_vector": [
+                0.7099239412843519,
+                0.24760753324592338,
+                0.45452847086522313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274515971930201,
+                    0.10997526902590649,
+                    0.3574058967991379
+                ],
+                [
+                    -0.22241745317479225,
+                    0.6060958727962426,
+                    -0.7636610959729457
+                ],
+                [
+                    -0.30060607343724055,
+                    -0.7877520124899974,
+                    -0.5376641660280179
+                ]
+            ],
+            "translation_vector": [
+                0.7099340590344653,
+                0.24763830583269994,
+                0.4545244764719064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274695886396839,
+                    0.11005386190700817,
+                    0.3573350103584714
+                ],
+                [
+                    -0.22233269396922944,
+                    0.6060492847171154,
+                    -0.7637227492266143
+                ],
+                [
+                    -0.30061326541076094,
+                    -0.787776879562498,
+                    -0.537623709192455
+                ]
+            ],
+            "translation_vector": [
+                0.7099186981746488,
+                0.24760623686787883,
+                0.4545233619969261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274514359051099,
+                    0.11002593555832722,
+                    0.3573907211191489
+                ],
+                [
+                    -0.22239060872107133,
+                    0.6060588586404501,
+                    -0.7636982892583346
+                ],
+                [
+                    -0.3006264312901009,
+                    -0.7877734149918685,
+                    -0.5376214239051754
+                ]
+            ],
+            "translation_vector": [
+                0.7099277766533737,
+                0.24762466910312406,
+                0.45452823766361866
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274526201879675,
+                    0.10997541958057651,
+                    0.35740319583706914
+                ],
+                [
+                    -0.22241389979716064,
+                    0.6060991348634768,
+                    -0.7636595418737099
+                ],
+                [
+                    -0.30060554632856124,
+                    -0.7877494816284057,
+                    -0.5376681687720466
+                ]
+            ],
+            "translation_vector": [
+                0.7099304031751217,
+                0.24763803467726778,
+                0.4545169709659874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274574477247327,
+                    0.10998968761598696,
+                    0.3573862774059217
+                ],
+                [
+                    -0.2224015709454174,
+                    0.6060739238912514,
+                    -0.7636831411129045
+                ],
+                [
+                    -0.3005997736208983,
+                    -0.7877668864563929,
+                    -0.5376458952711026
+                ]
+            ],
+            "translation_vector": [
+                0.709935059877641,
+                0.24762512757541935,
+                0.4545230320077791
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274524821707889,
+                    0.11004808489359581,
+                    0.3573811863074143
+                ],
+                [
+                    -0.22235884175388973,
+                    0.6060889090532199,
+                    -0.7636836909457653
+                ],
+                [
+                    -0.30064670097826046,
+                    -0.7877472014129472,
+                    -0.5376484984234206
+                ]
+            ],
+            "translation_vector": [
+                0.7099208404936794,
+                0.24762717368424267,
+                0.45453178161379343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927457561252859,
+                    0.11000680315138658,
+                    0.35738071483407063
+                ],
+                [
+                    -0.22238805676996098,
+                    0.6060721296257034,
+                    -0.7636885005661965
+                ],
+                [
+                    -0.30060942147740455,
+                    -0.7877658769909859,
+                    -0.5376419801016691
+                ]
+            ],
+            "translation_vector": [
+                0.7099322839925225,
+                0.24762171855942613,
+                0.4545258375648866
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274548131545491,
+                    0.11000335378448452,
+                    0.35738890821152475
+                ],
+                [
+                    -0.2223899927220612,
+                    0.6060898156803711,
+                    -0.763673900605236
+                ],
+                [
+                    -0.3006164677683872,
+                    -0.7877527514929412,
+                    -0.53765727170918
+                ]
+            ],
+            "translation_vector": [
+                0.7099331922477017,
+                0.24762410979890426,
+                0.4545191491285481
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927464032660627,
+                    0.11003456318052837,
+                    0.35735537358007935
+                ],
+                [
+                    -0.2223507238620782,
+                    0.6060743981729809,
+                    -0.7636975706896477
+                ],
+                [
+                    -0.30061707156929324,
+                    -0.7877602546364787,
+                    -0.5376459406488373
+                ]
+            ],
+            "translation_vector": [
+                0.709925339146776,
+                0.24761297547325578,
+                0.4545257235823766
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927461549399043,
+                    0.11001492250005994,
+                    0.35736786539031784
+                ],
+                [
+                    -0.22236761071545016,
+                    0.6060860253686531,
+                    -0.7636834262687195
+                ],
+                [
+                    -0.30061224208443094,
+                    -0.787754052150882,
+                    -0.5376577286981349
+                ]
+            ],
+            "translation_vector": [
+                0.709927694452228,
+                0.24761481095075388,
+                0.45451870026042446
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274684688076483,
+                    0.10998817304565706,
+                    0.35735814130599425
+                ],
+                [
+                    -0.2223777062090452,
+                    0.6060779814656035,
+                    -0.7636868704932562
+                ],
+                [
+                    -0.3005834246075455,
+                    -0.78776397618364,
+                    -0.537659299815917
+                ]
+            ],
+            "translation_vector": [
+                0.709928149271344,
+                0.247619781684767,
+                0.4545146317359029
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274386671820909,
+                    0.11007512965528903,
+                    0.3574087078498203
+                ],
+                [
+                    -0.22237371553624766,
+                    0.6060694935763425,
+                    -0.7636947686050494
+                ],
+                [
+                    -0.30067831523758226,
+                    -0.7877583606585761,
+                    -0.5376144677725871
+                ]
+            ],
+            "translation_vector": [
+                0.7099345676081552,
+                0.24761803279783706,
+                0.4545486432455373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274610713484713,
+                    0.11001525830960682,
+                    0.35736900267400973
+                ],
+                [
+                    -0.22237659021950534,
+                    0.6060644536363993,
+                    -0.7636979312272356
+                ],
+                [
+                    -0.30060707452668517,
+                    -0.7877706017474146,
+                    -0.5376363694608323
+                ]
+            ],
+            "translation_vector": [
+                0.7099290043450543,
+                0.2476148808578405,
+                0.45451843586119606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274664291638164,
+                    0.10997732351335701,
+                    0.3573667738989704
+                ],
+                [
+                    -0.22238424238239646,
+                    0.6060954601291942,
+                    -0.7636710954008853
+                ],
+                [
+                    -0.30058488237788517,
+                    -0.7877520431732431,
+                    -0.5376759683696625
+                ]
+            ],
+            "translation_vector": [
+                0.7099315082412982,
+                0.247619680527282,
+                0.4545096539172492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274496771391153,
+                    0.1100449317342764,
+                    0.357389436573256
+                ],
+                [
+                    -0.2223720832790092,
+                    0.6060766569885732,
+                    -0.7636895589385188
+                ],
+                [
+                    -0.30064556034091755,
+                    -0.7877570684247487,
+                    -0.5376346791215592
+                ]
+            ],
+            "translation_vector": [
+                0.7099297131818499,
+                0.24761528665314692,
+                0.45452921253251166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927455440759334,
+                    0.11001260129795092,
+                    0.35738443301516
+                ],
+                [
+                    -0.22239010426967154,
+                    0.6060662484365816,
+                    -0.7636925716732699
+                ],
+                [
+                    -0.30061444896883105,
+                    -0.7877695919884607,
+                    -0.5376337256994769
+                ]
+            ],
+            "translation_vector": [
+                0.7099342678996835,
+                0.24761828985457537,
+                0.4545228437360508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274417331544336,
+                    0.1100312342422525,
+                    0.3574142681743787
+                ],
+                [
+                    -0.22240517004360102,
+                    0.6060637077424161,
+                    -0.7636902006019145
+                ],
+                [
+                    -0.30064559192074825,
+                    -0.7877689443286288,
+                    -0.5376172601488732
+                ]
+            ],
+            "translation_vector": [
+                0.7099342409650028,
+                0.2476253146542906,
+                0.4545346138863005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274371491107707,
+                    0.11000570647089855,
+                    0.3574340204752832
+                ],
+                [
+                    -0.22243324512708457,
+                    0.6060703506086839,
+                    -0.7636767520196628
+                ],
+                [
+                    -0.3006389627302505,
+                    -0.787767398828427,
+                    -0.5376232318562635
+                ]
+            ],
+            "translation_vector": [
+                0.7099409120379749,
+                0.24762936928059198,
+                0.4545315206627101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274552117061283,
+                    0.11001972163508733,
+                    0.3573828355286227
+                ],
+                [
+                    -0.22237647858574036,
+                    0.6060880212261277,
+                    -0.7636792600941859
+                ],
+                [
+                    -0.3006252352197773,
+                    -0.7877518463180744,
+                    -0.5376536957666327
+                ]
+            ],
+            "translation_vector": [
+                0.709930498047063,
+                0.24762070080833856,
+                0.4545214051165726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274558392534727,
+                    0.1100289690313488,
+                    0.3573783600171325
+                ],
+                [
+                    -0.2223765902664222,
+                    0.6060644537622829,
+                    -0.7636979311136739
+                ],
+                [
+                    -0.3006232165620555,
+                    -0.787768686772789,
+                    -0.5376301496420747
+                ]
+            ],
+            "translation_vector": [
+                0.709931573628104,
+                0.24761488091691305,
+                0.4545250997711697
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927457846604588,
+                    0.11000605536810686,
+                    0.35738020447966823
+                ],
+                [
+                    -0.22238805677100926,
+                    0.6060721296229564,
+                    -0.7636885005680712
+                ],
+                [
+                    -0.30060854109155793,
+                    -0.7877659814162095,
+                    -0.5376423193408064
+                ]
+            ],
+            "translation_vector": [
+                0.7099323656519024,
+                0.24762171855972623,
+                0.45452528801510717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274574477247327,
+                    0.10998968761598696,
+                    0.3573862774059217
+                ],
+                [
+                    -0.2224015709454174,
+                    0.6060739238912514,
+                    -0.7636831411129045
+                ],
+                [
+                    -0.3005997736208983,
+                    -0.7877668864563929,
+                    -0.5376458952711026
+                ]
+            ],
+            "translation_vector": [
+                0.709935059877641,
+                0.24762512757541935,
+                0.4545230320077791
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274621518059711,
+                    0.11004719005484535,
+                    0.3573563668503342
+                ],
+                [
+                    -0.22234960832558762,
+                    0.606060869693708,
+                    -0.763708631549732
+                ],
+                [
+                    -0.30062369940657646,
+                    -0.7877688989717349,
+                    -0.5376295687254984
+                ]
+            ],
+            "translation_vector": [
+                0.7099237065188522,
+                0.24760807473703728,
+                0.45452239070945305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274558392534727,
+                    0.1100289690313488,
+                    0.3573783600171325
+                ],
+                [
+                    -0.2223765902664222,
+                    0.6060644537622829,
+                    -0.7636979311136739
+                ],
+                [
+                    -0.3006232165620555,
+                    -0.787768686772789,
+                    -0.5376301496420747
+                ]
+            ],
+            "translation_vector": [
+                0.709931573628104,
+                0.24761488091691305,
+                0.45452502347722445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274655658411491,
+                    0.11000064942899174,
+                    0.35736183526526377
+                ],
+                [
+                    -0.22238014271082207,
+                    0.6060611920350474,
+                    -0.7636994851621758
+                ],
+                [
+                    -0.30059057920512394,
+                    -0.7877751510642222,
+                    -0.5376389262868441
+                ]
+            ],
+            "translation_vector": [
+                0.7099301725733436,
+                0.24761515190432104,
+                0.45451872786711267
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274580303903505,
+                    0.10995894128993551,
+                    0.35739422644308116
+                ],
+                [
+                    -0.22241346460913533,
+                    0.6061051903146932,
+                    -0.7636548625093346
+                ],
+                [
+                    -0.3005891758280939,
+                    -0.7877471228154289,
+                    -0.5376807769215869
+                ]
+            ],
+            "translation_vector": [
+                0.7099394890987071,
+                0.24762097616926815,
+                0.45450797338362525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274542110811332,
+                    0.11006408057262462,
+                    0.3573717735294377
+                ],
+                [
+                    -0.22235760651824799,
+                    0.6060482827188887,
+                    -0.7637162914570846
+                ],
+                [
+                    -0.300642281077278,
+                    -0.7877762227823264,
+                    -0.5376084464063622
+                ]
+            ],
+            "translation_vector": [
+                0.7099267279477633,
+                0.24760881903697446,
+                0.45453427989244743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274432595907607,
+                    0.10998634175613291,
+                    0.3574241246289451
+                ],
+                [
+                    -0.22241483473330378,
+                    0.6061257558721044,
+                    -0.7636381403250019
+                ],
+                [
+                    -0.300633733187448,
+                    -0.7877274736198894,
+                    -0.5376846527233273
+                ]
+            ],
+            "translation_vector": [
+                0.7099332610151323,
+                0.24764109129269984,
+                0.454520733244216
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274520311550216,
+                    0.11000141926110066,
+                    0.35739672307810627
+                ],
+                [
+                    -0.22240872253842955,
+                    0.6060604455604459,
+                    -0.7636917548762054
+                ],
+                [
+                    -0.30061119414494347,
+                    -0.7877756178555021,
+                    -0.5376267161024774
+                ]
+            ],
+            "translation_vector": [
+                0.7099330033833267,
+                0.24762558567786347,
+                0.45452706656940856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274830451115682,
+                    0.11009489503391007,
+                    0.35728744047061745
+                ],
+                [
+                    -0.2222824573493994,
+                    0.6060178521463568,
+                    -0.7637623138350236
+                ],
+                [
+                    -0.30060889904539617,
+                    -0.787795326825051,
+                    -0.5375991190909134
+                ]
+            ],
+            "translation_vector": [
+                0.7099042964572249,
+                0.24761110016132976,
+                0.4545351750690276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927475896793499,
+                    0.1100572535066479,
+                    0.35731759237080435
+                ],
+                [
+                    -0.22232719984193358,
+                    0.6060211000094597,
+                    -0.7637467136124184
+                ],
+                [
+                    -0.3005978660561977,
+                    -0.7877980878968277,
+                    -0.5376012422126295
+                ]
+            ],
+            "translation_vector": [
+                0.7099172674888135,
+                0.24759871390970972,
+                0.4545301089237833
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274649712909631,
+                    0.11004620433994267,
+                    0.3573493527888707
+                ],
+                [
+                    -0.22233848774144596,
+                    0.6060763274298001,
+                    -0.7636996020674969
+                ],
+                [
+                    -0.30062322581114725,
+                    -0.7877571442009129,
+                    -0.5376470569651829
+                ]
+            ],
+            "translation_vector": [
+                0.709922391623984,
+                0.24761352025377098,
+                0.4545264890587328
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274756109865242,
+                    0.10999219579720376,
+                    0.3573383661026114
+                ],
+                [
+                    -0.22235345223348804,
+                    0.6060929466635226,
+                    -0.7636820557565687
+                ],
+                [
+                    -0.30057932947064786,
+                    -0.7877519005806578,
+                    -0.5376792815671234
+                ]
+            ],
+            "translation_vector": [
+                0.7099239315448923,
+                0.24761563718974705,
+                0.45450478271267947
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927467036218894,
+                    0.11005081929002623,
+                    0.35734257219219656
+                ],
+                [
+                    -0.22235378606636863,
+                    0.6060148090020145,
+                    -0.7637439656666389
+                ],
+                [
+                    -0.3006055397847698,
+                    -0.7878038261165318,
+                    -0.5375885424810144
+                ]
+            ],
+            "translation_vector": [
+                0.7099179572640213,
+                0.247621373263213,
+                0.4545432622510574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274336260669456,
+                    0.11006821311409967,
+                    0.3574239187606034
+                ],
+                [
+                    -0.22238827697136873,
+                    0.6060743424223395,
+                    -0.7636866803362721
+                ],
+                [
+                    -0.3006830948125005,
+                    -0.787755596564822,
+                    -0.5376158447951278
+                ]
+            ],
+            "translation_vector": [
+                0.7099382994827049,
+                0.24761867826247985,
+                0.4545494549190836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274604216885238,
+                    0.10994987544004496,
+                    0.35739081002743245
+                ],
+                [
+                    -0.22239937608642632,
+                    0.6061480918696417,
+                    -0.763624913317501
+                ],
+                [
+                    -0.3005922216520481,
+                    -0.7877153772864355,
+                    -0.5377255811924655
+                ]
+            ],
+            "translation_vector": [
+                0.7099394081794973,
+                0.24762187723339754,
+                0.454491293063643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274662414107889,
+                    0.11010236984715491,
+                    0.35732875506651424
+                ],
+                [
+                    -0.22230377464245044,
+                    0.6060401357686043,
+                    -0.7637384274850199
+                ],
+                [
+                    -0.30064497804397666,
+                    -0.7877771398000915,
+                    -0.5376055944512899
+                ]
+            ],
+            "translation_vector": [
+                0.7099169799282126,
+                0.2475920403109015,
+                0.4545267240262898
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273493230686042,
+                    0.11021108059297753,
+                    0.35759858880975715
+                ],
+                [
+                    -0.222446943469281,
+                    0.6060871298641963,
+                    -0.7636594452726658
+                ],
+                [
+                    -0.3008996350037269,
+                    -0.7877257826982113,
+                    -0.5375383715858011
+                ]
+            ],
+            "translation_vector": [
+                0.709975053756171,
+                0.24763162058316712,
+                0.45463159320360846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274234469756706,
+                    0.11013648393932611,
+                    0.3574293005690053
+                ],
+                [
+                    -0.22237356419588472,
+                    0.6060239912007691,
+                    -0.7637309212254726
+                ],
+                [
+                    -0.30072536964244384,
+                    -0.7877847910404039,
+                    -0.53754941638778
+                ]
+            ],
+            "translation_vector": [
+                0.7099369314846788,
+                0.2476246494922598,
+                0.4545893525038175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274277886030692,
+                    0.11012557759688905,
+                    0.35742139567431147
+                ],
+                [
+                    -0.2223568635683347,
+                    0.6060667421114969,
+                    -0.7637018589282141
+                ],
+                [
+                    -0.3007243291635616,
+                    -0.7877534266922032,
+                    -0.5375959603492366
+                ]
+            ],
+            "translation_vector": [
+                0.7099483200571209,
+                0.24761401104096037,
+                0.45457538577172935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9273987603001741,
+                    0.11016973778325512,
+                    0.35748310207682454
+                ],
+                [
+                    -0.22239735959734794,
+                    0.6060287701635471,
+                    -0.7637202001899565
+                ],
+                [
+                    -0.30078389890057033,
+                    -0.7877764648749215,
+                    -0.5375288713653845
+                ]
+            ],
+            "translation_vector": [
+                0.709957556136708,
+                0.2476166061853996,
+                0.45460837997102865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274227318958724,
+                    0.11014383558627723,
+                    0.35742889061342
+                ],
+                [
+                    -0.22234576367795217,
+                    0.6060851070119886,
+                    -0.7636905161338166
+                ],
+                [
+                    -0.3007481300644532,
+                    -0.7877367444397969,
+                    -0.5376070904686108
+                ]
+            ],
+            "translation_vector": [
+                0.7099419391141976,
+                0.24762038275062087,
+                0.45458125681916645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274261903661386,
+                    0.11012488735589171,
+                    0.35742575537837645
+                ],
+                [
+                    -0.22235465325205203,
+                    0.6060829520256065,
+                    -0.7636896381653259
+                ],
+                [
+                    -0.3007308923275269,
+                    -0.7877410516462747,
+                    -0.5376104221005307
+                ]
+            ],
+            "translation_vector": [
+                0.7099525780301065,
+                0.24761471626459977,
+                0.4545775659135637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274340501240931,
+                    0.11011160881715344,
+                    0.35740945185336015
+                ],
+                [
+                    -0.22235350896297396,
+                    0.6060703293219456,
+                    -0.7636999888486584
+                ],
+                [
+                    -0.30070749861331,
+                    -0.7877526194937639,
+                    -0.5376065575850426
+                ]
+            ],
+            "translation_vector": [
+                0.7099416904153948,
+                0.24762416147683197,
+                0.45457520051493105
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274180521946397,
+                    0.11021546012807266,
+                    0.35741895418718106
+                ],
+                [
+                    -0.22231787482160242,
+                    0.6060313000350782,
+                    -0.7637413344271737
+                ],
+                [
+                    -0.3007831760559545,
+                    -0.7877681230708381,
+                    -0.5375415009793593
+                ]
+            ],
+            "translation_vector": [
+                0.7099425986149536,
+                0.24760465353071126,
+                0.45460520965484974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274158754942157,
+                    0.11019505469314986,
+                    0.3574308937437711
+                ],
+                [
+                    -0.22233472617881267,
+                    0.606042948390347,
+                    -0.7637271857419557
+                ],
+                [
+                    -0.30077743169375215,
+                    -0.7877620164919791,
+                    -0.5375536642570686
+                ]
+            ],
+            "translation_vector": [
+                0.7099450316958692,
+                0.2476064819246279,
+                0.45459746920250726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274346291413539,
+                    0.11016231399806319,
+                    0.35739232398588505
+                ],
+                [
+                    -0.22230917985310558,
+                    0.606074860605163,
+                    -0.7637092980286885
+                ],
+                [
+                    -0.30073848643377726,
+                    -0.7877420440201378,
+                    -0.5376047199016173
+                ]
+            ],
+            "translation_vector": [
+                0.709942413469744,
+                0.2476033315759223,
+                0.4545774840287363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274291923023523,
+                    0.11016333498549784,
+                    0.3574061175893325
+                ],
+                [
+                    -0.22233598818784034,
+                    0.6060328886943886,
+                    -0.7637348009468155
+                ],
+                [
+                    -0.3007354345964959,
+                    -0.7877741919139064,
+                    -0.5375593185244294
+                ]
+            ],
+            "translation_vector": [
+                0.709942654480912,
+                0.24760556953215523,
+                0.4545906960870005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274199777002211,
+                    0.11016413526701813,
+                    0.3574297808848501
+                ],
+                [
+                    -0.22235174635700766,
+                    0.6060414769962622,
+                    -0.7637233982615557
+                ],
+                [
+                    -0.3007522000825776,
+                    -0.787767472964618,
+                    -0.5375597852187513
+                ]
+            ],
+            "translation_vector": [
+                0.7099488856342389,
+                0.24761015019769433,
+                0.45459558991301696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274313479356199,
+                    0.11011735246900481,
+                    0.35741469409012383
+                ],
+                [
+                    -0.2223537617007701,
+                    0.6060725199439955,
+                    -0.7636981767859952
+                ],
+                [
+                    -0.3007156456252932,
+                    -0.7877501312306796,
+                    -0.5376056465683845
+                ]
+            ],
+            "translation_vector": [
+                0.7099374993259452,
+                0.24762112675394776,
+                0.45457158176298573
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274221309992198,
+                    0.1101304811059206,
+                    0.35743456473072777
+                ],
+                [
+                    -0.22236717867572284,
+                    0.6060609100443527,
+                    -0.7637034837972201
+                ],
+                [
+                    -0.3007341496748674,
+                    -0.7877572281151027,
+                    -0.5375848963389365
+                ]
+            ],
+            "translation_vector": [
+                0.7099498795002522,
+                0.24761594114806298,
+                0.4545799124280339
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274362407527675,
+                    0.11011905536390139,
+                    0.3574014731141115
+                ],
+                [
+                    -0.22234384578490146,
+                    0.6060674693980285,
+                    -0.7637050718563091
+                ],
+                [
+                    -0.3007078874588342,
+                    -0.7877537789076181,
+                    -0.5376046411972402
+                ]
+            ],
+            "translation_vector": [
+                0.7099359819783385,
+                0.24761800037291404,
+                0.4545741217725949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274358613321114,
+                    0.11012707990170711,
+                    0.3573999851531729
+                ],
+                [
+                    -0.22234912203792223,
+                    0.6060386237957557,
+                    -0.7637264264098186
+                ],
+                [
+                    -0.3007051563311316,
+                    -0.7877748490146598,
+                    -0.5375752935317992
+                ]
+            ],
+            "translation_vector": [
+                0.7099305376420401,
+                0.2476100841382834,
+                0.4545587329780525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274344724769041,
+                    0.11010523886071576,
+                    0.35741031831343556
+                ],
+                [
+                    -0.22236178716405824,
+                    0.6060598897477086,
+                    -0.7637058633061565
+                ],
+                [
+                    -0.3007000746103877,
+                    -0.7877615415939144,
+                    -0.5375976364483827
+                ]
+            ],
+            "translation_vector": [
+                0.7099355306603867,
+                0.24762187343421335,
+                0.4545690125649427
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274637766943763,
+                    0.11007302526091749,
+                    0.3573441926626396
+                ],
+                [
+                    -0.22233798998215856,
+                    0.6060270005193487,
+                    -0.7637388904934822
+                ],
+                [
+                    -0.3006272794183819,
+                    -0.7877913453138662,
+                    -0.5375946754926721
+                ]
+            ],
+            "translation_vector": [
+                0.709926614812007,
+                0.24760212896985992,
+                0.45454097120254183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274558373984321,
+                    0.11006661367434209,
+                    0.35736677269975264
+                ],
+                [
+                    -0.22234831854557047,
+                    0.6060580997024543,
+                    -0.7637112052503929
+                ],
+                [
+                    -0.30064413334627216,
+                    -0.7877683164099161,
+                    -0.5376189958931472
+                ]
+            ],
+            "translation_vector": [
+                0.709922552912542,
+                0.2476184758065786,
+                0.45454455937122085
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274459227286587,
+                    0.11006642223827613,
+                    0.35739256163167726
+                ],
+                [
+                    -0.22236762894260703,
+                    0.6060634265298374,
+                    -0.7637013556498089
+                ],
+                [
+                    -0.30066043639366613,
+                    -0.7877642450115252,
+                    -0.5376158445107364
+                ]
+            ],
+            "translation_vector": [
+                0.709932503902186,
+                0.24762332767748726,
+                0.4545563628675897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274575853218816,
+                    0.11004861232574764,
+                    0.3573677802405834
+                ],
+                [
+                    -0.22235376146559335,
+                    0.6060725193128332,
+                    -0.763698177355359
+                ],
+                [
+                    -0.3006347155453053,
+                    -0.7877597376478268,
+                    -0.5376368323971311
+                ]
+            ],
+            "translation_vector": [
+                0.7099246206041206,
+                0.2476211264577997,
+                0.45453817085937787
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274491233729161,
+                    0.1100869773412971,
+                    0.35737792457658435
+                ],
+                [
+                    -0.22234722560348322,
+                    0.6060550401028811,
+                    -0.7637139514453887
+                ],
+                [
+                    -0.3006656528791471,
+                    -0.7877678247972256,
+                    -0.5376076816722435
+                ]
+            ],
+            "translation_vector": [
+                0.7099264165863824,
+                0.24762122800627706,
+                0.4545565217671774
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274414269686767,
+                    0.11008103082034769,
+                    0.3573997288692797
+                ],
+                [
+                    -0.22236407643085834,
+                    0.6060666879349174,
+                    -0.7636998018126305
+                ],
+                [
+                    -0.30067693136547136,
+                    -0.7877596945954581,
+                    -0.537613287145616
+                ]
+            ],
+            "translation_vector": [
+                0.7099313356923179,
+                0.2476230566463778,
+                0.4545560707737222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274831652866098,
+                    0.11000434389932402,
+                    0.3573150184825863
+                ],
+                [
+                    -0.22234331696594106,
+                    0.6060512307911108,
+                    -0.7637181123013672
+                ],
+                [
+                    -0.300563516599262,
+                    -0.7877822985951511,
+                    -0.5376435831567472
+                ]
+            ],
+            "translation_vector": [
+                0.709923015514699,
+                0.24760573805956695,
+                0.4545184142461628
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274501805901632,
+                    0.11007151732557355,
+                    0.3573799429135891
+                ],
+                [
+                    -0.22235863348280685,
+                    0.6060522681486044,
+                    -0.7637128297911406
+                ],
+                [
+                    -0.30065395496971764,
+                    -0.7877721176492469,
+                    -0.5376079333636073
+                ]
+            ],
+            "translation_vector": [
+                0.7099241127427415,
+                0.24762040591410184,
+                0.4545490858724343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274591387383797,
+                    0.11000301498789689,
+                    0.35737778703248496
+                ],
+                [
+                    -0.22239232244807386,
+                    0.6060602119451695,
+                    -0.7636967162513724
+                ],
+                [
+                    -0.30060139867741065,
+                    -0.7877755747613338,
+                    -0.5376322562148178
+                ]
+            ],
+            "translation_vector": [
+                0.7099317862616469,
+                0.24762895079542685,
+                0.45453809932945893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274622732661773,
+                    0.1100533252859331,
+                    0.3573541622276752
+                ],
+                [
+                    -0.22235174598153307,
+                    0.6060414759829225,
+                    -0.7637233991749925
+                ],
+                [
+                    -0.3006217436029849,
+                    -0.7877829618505023,
+                    -0.5376100559803099
+                ]
+            ],
+            "translation_vector": [
+                0.7099283492302462,
+                0.24761014972384415,
+                0.4545415453564155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274626700745772,
+                    0.11006963664786724,
+                    0.3573481085808945
+                ],
+                [
+                    -0.2223382777312223,
+                    0.6060396864387934,
+                    -0.7637287402714943
+                ],
+                [
+                    -0.3006304806130779,
+                    -0.7877820596772792,
+                    -0.5376064923128946
+                ]
+            ],
+            "translation_vector": [
+                0.7099256637953061,
+                0.24760675244279096,
+                0.45454379353829905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274549989707392,
+                    0.11007837542171668,
+                    0.3573653258903307
+                ],
+                [
+                    -0.22234945625002678,
+                    0.6060346777788835,
+                    -0.7637294603685019
+                ],
+                [
+                    -0.30064587838436113,
+                    -0.7877846917743206,
+                    -0.5375940245357415
+                ]
+            ],
+            "translation_vector": [
+                0.7099324805644446,
+                0.24760896652238676,
+                0.45455508228058933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274577780090983,
+                    0.11006793411286096,
+                    0.35736132959590544
+                ],
+                [
+                    -0.22234819398423197,
+                    0.6060447371333055,
+                    -0.7637218454548577
+                ],
+                [
+                    -0.30063823882263685,
+                    -0.7877784120380237,
+                    -0.5376074989101935
+                ]
+            ],
+            "translation_vector": [
+                0.7099271810031174,
+                0.24760987871485152,
+                0.4545412533110645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274628932633646,
+                    0.1100305544297409,
+                    0.35735956502020894
+                ],
+                [
+                    -0.22235564814192244,
+                    0.6060764419441459,
+                    -0.7636945150121943
+                ],
+                [
+                    -0.3006169445638997,
+                    -0.7877592421623557,
+                    -0.5376474951386431
+                ]
+            ],
+            "translation_vector": [
+                0.7099261662651012,
+                0.247618645240962,
+                0.4545318403893377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274679929270506,
+                    0.11004116618566684,
+                    0.35734306183325704
+                ],
+                [
+                    -0.22234819388903015,
+                    0.6060447368834129,
+                    -0.7637218456808745
+                ],
+                [
+                    -0.3006067244260427,
+                    -0.7877821517655841,
+                    -0.5376196411864358
+                ]
+            ],
+            "translation_vector": [
+                0.70992194363089,
+                0.24760987859600692,
+                0.45452842959420586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274577780090983,
+                    0.11006793411286096,
+                    0.35736132959590544
+                ],
+                [
+                    -0.22234819398423197,
+                    0.6060447371333055,
+                    -0.7637218454548577
+                ],
+                [
+                    -0.30063823882263685,
+                    -0.7877784120380237,
+                    -0.5376074989101935
+                ]
+            ],
+            "translation_vector": [
+                0.7099271810031174,
+                0.24760987871485152,
+                0.4545412533110645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274573843506856,
+                    0.10999141723413806,
+                    0.3573859095546589
+                ],
+                [
+                    -0.22239885864051237,
+                    0.6060776908009444,
+                    -0.7636809414859013
+                ],
+                [
+                    -0.3006019758564179,
+                    -0.7877637468481404,
+                    -0.5376492641704228
+                ]
+            ],
+            "translation_vector": [
+                0.7099352270234518,
+                0.2476288495474922,
+                0.45453257204488057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274620803267964,
+                    0.11003400350000424,
+                    0.3573606128683635
+                ],
+                [
+                    -0.22235731408116682,
+                    0.6060692580686383,
+                    -0.763699731110821
+                ],
+                [
+                    -0.3006182203900832,
+                    -0.787764287396866,
+                    -0.5376393894345987
+                ]
+            ],
+            "translation_vector": [
+                0.7099257888301446,
+                0.24762139747665876,
+                0.4545384628999926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274638310745885,
+                    0.11007934220284878,
+                    0.3573421056475647
+                ],
+                [
+                    -0.22232441047319257,
+                    0.6060487790790362,
+                    -0.7637255618902363
+                ],
+                [
+                    -0.30063715431761684,
+                    -0.7877737084956553,
+                    -0.5376149976021947
+                ]
+            ],
+            "translation_vector": [
+                0.7099229356256135,
+                0.2476045513126242,
+                0.4545388987367057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927467574128956,
+                    0.1099876706272889,
+                    0.3573606179328284
+                ],
+                [
+                    -0.2223807444100196,
+                    0.6060761034981543,
+                    -0.7636874761865228
+                ],
+                [
+                    -0.30058393745341,
+                    -0.7877654911701061,
+                    -0.5376567933789426
+                ]
+            ],
+            "translation_vector": [
+                0.709924925965837,
+                0.24762793285973547,
+                0.4545196677057833
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274553955744576,
+                    0.11009468665322202,
+                    0.35735927186873945
+                ],
+                [
+                    -0.22233598795300047,
+                    0.6060328880640488,
+                    -0.7637348015153635
+                ],
+                [
+                    -0.30065461526607234,
+                    -0.7877837892185121,
+                    -0.5375904610051531
+                ]
+            ],
+            "translation_vector": [
+                0.7099297950205915,
+                0.24760556923642318,
+                0.4545573303766453
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274631116711337,
+                    0.11004156419976169,
+                    0.35735560809614875
+                ],
+                [
+                    -0.22235060785978703,
+                    0.6060648980567688,
+                    -0.7637051437091559
+                ],
+                [
+                    -0.30061999879196616,
+                    -0.7877665856660264,
+                    -0.5376350275367202
+                ]
+            ],
+            "translation_vector": [
+                0.7099184212166334,
+                0.24761965902354377,
+                0.4545310227771905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274747855191486,
+                    0.11005319100193393,
+                    0.35732172810578083
+                ],
+                [
+                    -0.22231717768731904,
+                    0.6060622726402812,
+                    -0.763716959473366
+                ],
+                [
+                    -0.3006087070118807,
+                    -0.7877669813037291,
+                    -0.5376407615092591
+                ]
+            ],
+            "translation_vector": [
+                0.7099224902729614,
+                0.2476040752270947,
+                0.454527642949152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274596472050695,
+                    0.11007018269298365,
+                    0.3573557858607878
+                ],
+                [
+                    -0.22233897205796305,
+                    0.6060536287207953,
+                    -0.7637174743441223
+                ],
+                [
+                    -0.30063929269218354,
+                    -0.7877712574067995,
+                    -0.5376173934065508
+                ]
+            ],
+            "translation_vector": [
+                0.7099269125380175,
+                0.2476051965154209,
+                0.45453813779454577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274557257370588,
+                    0.11004955457559658,
+                    0.35737231612879417
+                ],
+                [
+                    -0.22236178697715311,
+                    0.6060598892405457,
+                    -0.7637058637630493
+                ],
+                [
+                    -0.30063451646454903,
+                    -0.787769322956569,
+                    -0.5376228988042423
+                ]
+            ],
+            "translation_vector": [
+                0.709925319969063,
+                0.24762187319783824,
+                0.454541761732064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274692222585041,
+                    0.11003802441741316,
+                    0.357340838619823
+                ],
+                [
+                    -0.2223330611860962,
+                    0.6060842225390277,
+                    -0.7636949162413499
+                ],
+                [
+                    -0.3006141241971595,
+                    -0.7877522125462905,
+                    -0.5376593716858282
+                ]
+            ],
+            "translation_vector": [
+                0.7099215715834238,
+                0.24761725325466138,
+                0.4545285373167109
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274563982975742,
+                    0.11006192763184384,
+                    0.35736676026577247
+                ],
+                [
+                    -0.22234951490903052,
+                    0.6060618383520562,
+                    -0.7637078900424201
+                ],
+                [
+                    -0.3006415182183095,
+                    -0.7877660948398891,
+                    -0.5376237135247113
+                ]
+            ],
+            "translation_vector": [
+                0.7099222852745041,
+                0.24762241119166434,
+                0.4545430613351479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274602207919181,
+                    0.1100349457776524,
+                    0.35736514877127495
+                ],
+                [
+                    -0.22236533933550626,
+                    0.6060566278729996,
+                    -0.7637074175843874
+                ],
+                [
+                    -0.3006180212675407,
+                    -0.7877738727064497,
+                    -0.537625455842886
+                ]
+            ],
+            "translation_vector": [
+                0.7099264881930987,
+                0.24762214422537715,
+                0.4545420537725774
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274606180461253,
+                    0.11005125708630949,
+                    0.3573590950111976
+                ],
+                [
+                    -0.2223518708355229,
+                    0.6060548385443525,
+                    -0.7637127589695762
+                ],
+                [
+                    -0.3006267578068228,
+                    -0.787772970779464,
+                    -0.537621892225248
+                ]
+            ],
+            "translation_vector": [
+                0.7099238028149182,
+                0.2476187468174325,
+                0.4545443018821984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927456795042557,
+                    0.11007823899548505,
+                    0.35736070661034064
+                ],
+                [
+                    -0.22233604646362543,
+                    0.606060048847652,
+                    -0.7637132312810267
+                ],
+                [
+                    -0.30065025490146136,
+                    -0.7877651924846866,
+                    -0.5376201500476444
+                ]
+            ],
+            "translation_vector": [
+                0.7099195999060377,
+                0.24761901386386048,
+                0.45454523309176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274511325294196,
+                    0.11002083696221142,
+                    0.3573930780024029
+                ],
+                [
+                    -0.22239105921763982,
+                    0.6060702718348125,
+                    -0.7636891006018961
+                ],
+                [
+                    -0.3006270339639357,
+                    -0.7877653464276094,
+                    -0.5376329095375726
+                ]
+            ],
+            "translation_vector": [
+                0.7099315601825982,
+                0.2476298630543173,
+                0.45453819341983503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274853963249489,
+                    0.11004273484958543,
+                    0.35729740568716234
+                ],
+                [
+                    -0.2223037091761918,
+                    0.6060604822015744,
+                    -0.7637223008398423
+                ],
+                [
+                    -0.3005859286301672,
+                    -0.7877698194399297,
+                    -0.5376493384066617
+                ]
+            ],
+            "translation_vector": [
+                0.709914567078763,
+                0.2476006778536347,
+                0.4545170676683779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274685572511019,
+                    0.11005766853325032,
+                    0.35733651493736984
+                ],
+                [
+                    -0.22234154157077538,
+                    0.606023739530673,
+                    -0.7637404441413267
+                ],
+                [
+                    -0.3006099036999465,
+                    -0.7877959994327751,
+                    -0.5375975716790625
+                ]
+            ],
+            "translation_vector": [
+                0.7099278647199491,
+                0.24760239996456085,
+                0.45454071368876336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274624290743941,
+                    0.11002600054176365,
+                    0.3573621718372107
+                ],
+                [
+                    -0.22236407624256757,
+                    0.6060666874296494,
+                    -0.7636998022684315
+                ],
+                [
+                    -0.30061214255617474,
+                    -0.7877673829201332,
+                    -0.5376382521314408
+                ]
+            ],
+            "translation_vector": [
+                0.7099210248265343,
+                0.24762305640929236,
+                0.45452924784045123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274405200211799,
+                    0.11006843915472884,
+                    0.357405960393619
+                ],
+                [
+                    -0.22238552700982836,
+                    0.6060424702161896,
+                    -0.7637127743273777
+                ],
+                [
+                    -0.30066386413968055,
+                    -0.78778008542759,
+                    -0.5375907158836497
+                ]
+            ],
+            "translation_vector": [
+                0.7099391996236256,
+                0.24761862192496367,
+                0.45455513810841686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927452933420695,
+                    0.11009054629881442,
+                    0.357366937341686
+                ],
+                [
+                    -0.2223378788263738,
+                    0.6060505692318343,
+                    -0.763720220481793
+                ],
+                [
+                    -0.30066081209285755,
+                    -0.787770765609767,
+                    -0.5376060796924317
+                ]
+            ],
+            "translation_vector": [
+                0.7099307764630463,
+                0.24760794869209102,
+                0.4545501002373419
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.927444063134484,
+                    0.11006736507237762,
+                    0.35739709694207583
+                ],
+                [
+                    -0.22237565418488553,
+                    0.6060507962670691,
+                    -0.7637090419589757
+                ],
+                [
+                    -0.3006602371156582,
+                    -0.7877738301632496,
+                    -0.5376019106434433
+                ]
+            ],
+            "translation_vector": [
+                0.70993320307893,
+                0.2476240744668357,
+                0.45455995375678215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274421090166095,
+                    0.11009659442261509,
+                    0.3573931649029763
+                ],
+                [
+                    -0.222350608048073,
+                    0.6060648985620427,
+                    -0.7637051432533593
+                ],
+                [
+                    -0.30068478764892,
+                    -0.7877588962541291,
+                    -0.5376100630094277
+                ]
+            ],
+            "translation_vector": [
+                0.7099287319507634,
+                0.24761965926062723,
+                0.45455776921913715
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274514870487016,
+                    0.11008158883224312,
+                    0.3573734502887992
+                ],
+                [
+                    -0.22235174607463298,
+                    0.6060414762383105,
+                    -0.7637233989452277
+                ],
+                [
+                    -0.300655018565654,
+                    -0.7877790127180708,
+                    -0.5375972348628925
+                ]
+            ],
+            "translation_vector": [
+                0.7099334227758161,
+                0.24761014984208607,
+                0.45455546838497474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274631491056672,
+                    0.1100637786314272,
+                    0.3573486696272582
+                ],
+                [
+                    -0.22233787873117922,
+                    0.6060505689819398,
+                    -0.7637202207078105
+                ],
+                [
+                    -0.30062929786086817,
+                    -0.7877745061056748,
+                    -0.5376182221592215
+                ]
+            ],
+            "translation_vector": [
+                0.7099255393914266,
+                0.2476079485732482,
+                0.45453727639830827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274521639439828,
+                    0.11003484704203816,
+                    0.35738608819043227
+                ],
+                [
+                    -0.22238297523499997,
+                    0.6060557420427977,
+                    -0.7637029853696948
+                ],
+                [
+                    -0.3006298320547272,
+                    -0.7877745679909895,
+                    -0.5376178327635321
+                ]
+            ],
+            "translation_vector": [
+                0.709941219902769,
+                0.24761567139477317,
+                0.45454560070304867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.92747364906049,
+                    0.11003626304193624,
+                    0.35732989115687536
+                ],
+                [
+                    -0.22233787863702154,
+                    0.6060505687293025,
+                    -0.7637202209357025
+                ],
+                [
+                    -0.3005969028809309,
+                    -0.7877783501459372,
+                    -0.5376307031966624
+                ]
+            ],
+            "translation_vector": [
+                0.7099203835356332,
+                0.24760794845470246,
+                0.4545238268971358
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274458843032883,
+                    0.11004529844193661,
+                    0.35739916617098755
+                ],
+                [
+                    -0.22238666320744557,
+                    0.606058906716126,
+                    -0.7636994000374185
+                ],
+                [
+                    -0.30064647630788927,
+                    -0.7877706734074835,
+                    -0.5376142319570516
+                ]
+            ],
+            "translation_vector": [
+                0.709930856689532,
+                0.2476244487148168,
+                0.4545454510314815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274634344762639,
+                    0.11006303083995644,
+                    0.3573481592954082
+                ],
+                [
+                    -0.22233787873222757,
+                    0.6060505689791932,
+                    -0.7637202207096851
+                ],
+                [
+                    -0.3006284174697178,
+                    -0.7877746105849819,
+                    -0.5376185613679406
+                ]
+            ],
+            "translation_vector": [
+                0.709925621061665,
+                0.24760794857354815,
+                0.45453672685493124
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274615691992119,
+                    0.11000057694661154,
+                    0.3573722299367262
+                ],
+                [
+                    -0.22238429725887726,
+                    0.6060728420814738,
+                    -0.7636890299224943
+                ],
+                [
+                    -0.30059983697801795,
+                    -0.7877661982864572,
+                    -0.5376468681635665
+                ]
+            ],
+            "translation_vector": [
+                0.7099312501843157,
+                0.2476282040311704,
+                0.4545334093753318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274478069108355,
+                    0.11004512604604307,
+                    0.3573942300734472
+                ],
+                [
+                    -0.2223736448674879,
+                    0.6060826213609841,
+                    -0.7636843707661868
+                ],
+                [
+                    -0.3006501746625636,
+                    -0.7877524524352233,
+                    -0.5376388622092542
+                ]
+            ],
+            "translation_vector": [
+                0.7099276658525463,
+                0.247627391347002,
+                0.4545330833045646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274575853218816,
+                    0.11004861232574764,
+                    0.3573677802405834
+                ],
+                [
+                    -0.22235376146559335,
+                    0.6060725193128332,
+                    -0.763698177355359
+                ],
+                [
+                    -0.3006347155453053,
+                    -0.7877597376478268,
+                    -0.5376368323971311
+                ]
+            ],
+            "translation_vector": [
+                0.7099246206041206,
+                0.2476211264577997,
+                0.45453817085937787
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274655718864188,
+                    0.1100613469814131,
+                    0.3573431304307324
+                ],
+                [
+                    -0.22232988054662775,
+                    0.6060631560650509,
+                    -0.7637125605072844
+                ],
+                [
+                    -0.30062773854307046,
+                    -0.7877651621905525,
+                    -0.5376327855119817
+                ]
+            ],
+            "translation_vector": [
+                0.7099250054355881,
+                0.24760720436724257,
+                0.45453252428566604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274728652240369,
+                    0.11000574048203905,
+                    0.3573413232948488
+                ],
+                [
+                    -0.22235731398805386,
+                    0.6060692578132634,
+                    -0.7636997313405958
+                ],
+                [
+                    -0.30058494504737493,
+                    -0.787768234822069,
+                    -0.5376522100914198
+                ]
+            ],
+            "translation_vector": [
+                0.7099207146744665,
+                0.24762139735841315,
+                0.4545245401453282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274664119178782,
+                    0.1099779650110486,
+                    0.35736662123959706
+                ],
+                [
+                    -0.2223946117753893,
+                    0.6060670097492559,
+                    -0.7636906548772675
+                ],
+                [
+                    -0.30057726364023446,
+                    -0.7877738424862967,
+                    -0.5376482880814604
+                ]
+            ],
+            "translation_vector": [
+                0.7099276542454136,
+                0.24763013400120765,
+                0.4545245624472056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274641864594485,
+                    0.11001118987785793,
+                    0.35736217054519237
+                ],
+                [
+                    -0.22236832273886917,
+                    0.6060773682760071,
+                    -0.7636900894380727
+                ],
+                [
+                    -0.3006035792824419,
+                    -0.7877612339822818,
+                    -0.5376520495239442
+                ]
+            ],
+            "translation_vector": [
+                0.7099235232876223,
+                0.24762177172051456,
+                0.45452341074980496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274658964135793,
+                    0.1100671707394654,
+                    0.35734049436799775
+                ],
+                [
+                    -0.22233598785885167,
+                    0.6060328878114027,
+                    -0.7637348017432494
+                ],
+                [
+                    -0.300622220556938,
+                    -0.7877876343383294,
+                    -0.537602942412925
+                ]
+            ],
+            "translation_vector": [
+                0.7099246398652468,
+                0.2476055691178825,
+                0.45454395702076456
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.9274713812064678,
+                    0.11001764698163448,
+                    0.3573415094774061
+                ],
+                [
+                    -0.22236061490113973,
+                    0.6060434724622414,
+                    -0.7637192327201769
+                ],
+                [
+                    -0.3005870821970793,
+                    -0.7877864094020238,
+                    -0.5376243848429063
+                ]
+            ],
+            "translation_vector": [
+                0.7099233464867203,
+                0.24761603954486727,
+                0.4545247627434681
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..7befe402b40c6c26c9e02da531be58ada512d267
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 328.35935196786556,
+        "fy": 434.55615234375,
+        "ppx": 317.073122420401,
+        "ppy": 237.33200073242188,
+        "distortion_model": "plumb bob",
+        "k1": -0.05438553914427757,
+        "k2": 0.0625494197010994,
+        "k3": -0.02131124958395958,
+        "p1": -0.001142260618507862,
+        "p2": -3.121867121080868e-05
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/hand_right_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.8696088560736043,
+                0.45067497184348976,
+                0.2016742601132506
+            ],
+            [
+                -0.4936718794329236,
+                0.786798592396619,
+                0.3704538438994309
+            ],
+            [
+                0.00827725168895342,
+                -0.42171085444480644,
+                0.9066925842577014
+            ]
+        ],
+        "translation_vector": [
+            -0.03195120383176782,
+            -0.048675141357826454,
+            0.040251331192684495
+        ]
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..55cb0895647b3edefb9ca7828e1548c3abbfc357
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656706446613733,
+                    -0.2567630118726047,
+                    0.03940763597828518
+                ],
+                [
+                    -0.17081227114016895,
+                    -0.5133369160963445,
+                    0.8410162772507037
+                ],
+                [
+                    -0.19571247805703593,
+                    -0.818876038425111,
+                    -0.539572663897988
+                ]
+            ],
+            "translation_vector": [
+                0.6306627368512648,
+                -0.2556882644238619,
+                0.46161531608802914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965668606566973,
+                    -0.2567696660726884,
+                    0.039414221746993834
+                ],
+                [
+                    -0.1708205355412275,
+                    -0.5133315193675569,
+                    0.8410178927116855
+                ],
+                [
+                    -0.19571532113866139,
+                    -0.8188773350195473,
+                    -0.5395696648838544
+                ]
+            ],
+            "translation_vector": [
+                0.6306617954844812,
+                -0.25569057260029954,
+                0.4616146487665604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656761506817937,
+                    -0.25673912143367483,
+                    0.03942835946191778
+                ],
+                [
+                    -0.17081666981024837,
+                    -0.5133371673881394,
+                    0.8410152304761536
+                ],
+                [
+                    -0.19568146902384514,
+                    -0.8188833714903399,
+                    -0.5395727815385832
+                ]
+            ],
+            "translation_vector": [
+                0.6306598115079518,
+                -0.2556902243236344,
+                0.46161491602173294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656684207846459,
+                    -0.25677044338821503,
+                    0.03941370956288872
+                ],
+                [
+                    -0.17082053554191004,
+                    -0.5133315193704122,
+                    0.8410178927098039
+                ],
+                [
+                    -0.1957162377945768,
+                    -0.8188770912799329,
+                    -0.5395697023003174
+                ]
+            ],
+            "translation_vector": [
+                0.6306618838729192,
+                -0.2556905725999749,
+                0.46161425075963414
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656684207846459,
+                    -0.25677044338821503,
+                    0.03941370956288872
+                ],
+                [
+                    -0.17082053554191004,
+                    -0.5133315193704122,
+                    0.8410178927098039
+                ],
+                [
+                    -0.1957162377945768,
+                    -0.8188770912799329,
+                    -0.5395697023003174
+                ]
+            ],
+            "translation_vector": [
+                0.6306618838729192,
+                -0.2556905725999749,
+                0.46161417446568875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656693709159265,
+                    -0.25676938917637493,
+                    0.03939729504458615
+                ],
+                [
+                    -0.1708066361302447,
+                    -0.513335708526052,
+                    0.8410181587848901
+                ],
+                [
+                    -0.1957236805517132,
+                    -0.8188747957618719,
+                    -0.5395704863474684
+                ]
+            ],
+            "translation_vector": [
+                0.6306562196681871,
+                -0.25568708756143377,
+                0.46161106999862805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656758868533614,
+                    -0.2567339923217408,
+                    0.039468199053345365
+                ],
+                [
+                    -0.17083797704282414,
+                    -0.5132934479038995,
+                    0.8410375865196765
+                ],
+                [
+                    -0.19566416930518885,
+                    -0.8189123845231963,
+                    -0.5395350214069918
+                ]
+            ],
+            "translation_vector": [
+                0.6306724756399177,
+                -0.25568469416747563,
+                0.46162866797806235
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656776131694175,
+                    -0.25673368514203687,
+                    0.03942793853102736
+                ],
+                [
+                    -0.17080126236132015,
+                    -0.5132872788830667,
+                    0.8410488084009137
+                ],
+                [
+                    -0.19568770068452554,
+                    -0.8189163475289809,
+                    -0.5395204718549585
+                ]
+            ],
+            "translation_vector": [
+                0.6306624544081079,
+                -0.2556836929491695,
+                0.46162727140811893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656705870083475,
+                    -0.256768705382632,
+                    0.03937193572940855
+                ],
+                [
+                    -0.17077645389485438,
+                    -0.5133034790125197,
+                    0.8410439591535883
+                ],
+                [
+                    -0.19574401697638733,
+                    -0.8188952133025149,
+                    -0.5395321208678655
+                ]
+            ],
+            "translation_vector": [
+                0.6306551770038553,
+                -0.2556767642626688,
+                0.461609444140033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656693709159265,
+                    -0.25676938917637493,
+                    0.03939729504458615
+                ],
+                [
+                    -0.1708066361302447,
+                    -0.513335708526052,
+                    0.8410181587848901
+                ],
+                [
+                    -0.1957236805517132,
+                    -0.8188747957618719,
+                    -0.5395704863474684
+                ]
+            ],
+            "translation_vector": [
+                0.6306562196681871,
+                -0.25568708756143377,
+                0.46161106999862805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965675232483239,
+                    -0.25674668766406317,
+                    0.039401570298331294
+                ],
+                [
+                    -0.17079520031250478,
+                    -0.5133267884854955,
+                    0.8410259257438971
+                ],
+                [
+                    -0.19570473913182004,
+                    -0.8188875054588998,
+                    -0.539558067759761
+                ]
+            ],
+            "translation_vector": [
+                0.6306595379735247,
+                -0.2556852243927865,
+                0.46162143525618005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656776435478476,
+                    -0.2567344916523542,
+                    0.0394219424671578
+                ],
+                [
+                    -0.17080646454670667,
+                    -0.513328965864427,
+                    0.8410223091414478
+                ],
+                [
+                    -0.1956830100466856,
+                    -0.8188899642812616,
+                    -0.5395622169671479
+                ]
+            ],
+            "translation_vector": [
+                0.6306581112877214,
+                -0.25569098703459847,
+                0.46162471103588243
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656646450489642,
+                    -0.2567857286588807,
+                    0.039406634715305616
+                ],
+                [
+                    -0.17082246997620584,
+                    -0.5133286929022878,
+                    0.8410192249850516
+                ],
+                [
+                    -0.19573317821382774,
+                    -0.8188740700500636,
+                    -0.5395681424490864
+                ]
+            ],
+            "translation_vector": [
+                0.6306628767040986,
+                -0.25569074689026666,
+                0.4616140406969406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656732872897986,
+                    -0.2567497981448689,
+                    0.03942896609706235
+                ],
+                [
+                    -0.17082036396575725,
+                    -0.513324776633087,
+                    0.8410220430816292
+                ],
+                [
+                    -0.19569237458194547,
+                    -0.8188877913653132,
+                    -0.5395621184658159
+                ]
+            ],
+            "translation_vector": [
+                0.6306613296057269,
+                -0.25569447211252233,
+                0.4616226077739935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656684207846459,
+                    -0.25677044338821503,
+                    0.03941370956288872
+                ],
+                [
+                    -0.17082053554191004,
+                    -0.5133315193704122,
+                    0.8410178927098039
+                ],
+                [
+                    -0.1957162377945768,
+                    -0.8188770912799329,
+                    -0.5395697023003174
+                ]
+            ],
+            "translation_vector": [
+                0.6306618838729192,
+                -0.2556905725999749,
+                0.46161425075963414
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656718503386903,
+                    -0.2567560934879939,
+                    0.0394231647668638
+                ],
+                [
+                    -0.170820535417885,
+                    -0.5133315192752612,
+                    0.8410178927930724
+                ],
+                [
+                    -0.1956993156426405,
+                    -0.8188815908147754,
+                    -0.539569011417136
+                ]
+            ],
+            "translation_vector": [
+                0.6306643464654181,
+                -0.25569057254935884,
+                0.46161949488364706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965667467265379,
+                    -0.2567778990438263,
+                    0.03938849105903138
+                ],
+                [
+                    -0.1708038212001674,
+                    -0.5133355793334098,
+                    0.8410188093341637
+                ],
+                [
+                    -0.19573552904031005,
+                    -0.8188722083164575,
+                    -0.539570115108536
+                ]
+            ],
+            "translation_vector": [
+                0.6306556617769211,
+                -0.25568985194555727,
+                0.4616088827448912
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656723342741078,
+                    -0.25675725400320315,
+                    0.039403747719358666
+                ],
+                [
+                    -0.17080364960808814,
+                    -0.5133288366088433,
+                    0.8410229597260526
+                ],
+                [
+                    -0.19571166571810092,
+                    -0.8188829086154787,
+                    -0.5395625319453716
+                ]
+            ],
+            "translation_vector": [
+                0.6306551076563869,
+                -0.2556937514527498,
+                0.46161723967599283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656686523352668,
+                    -0.2567694254576082,
+                    0.03941466791893459
+                ],
+                [
+                    -0.1708173643226409,
+                    -0.5133172028176664,
+                    0.8410272750257944
+                ],
+                [
+                    -0.1957178631164162,
+                    -0.818886384940925,
+                    -0.5395550079607518
+                ]
+            ],
+            "translation_vector": [
+                0.6306619033848739,
+                -0.2556910176529471,
+                0.46161811399609326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656686523352668,
+                    -0.2567694254576082,
+                    0.03941466791893459
+                ],
+                [
+                    -0.1708173643226409,
+                    -0.5133172028176664,
+                    0.8410272750257944
+                ],
+                [
+                    -0.1957178631164162,
+                    -0.818886384940925,
+                    -0.5395550079607518
+                ]
+            ],
+            "translation_vector": [
+                0.6306619033848739,
+                -0.2556910176529471,
+                0.46161811399609326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965661041771757,
+                    -0.25678880027115125,
+                    0.03947485857590502
+                ],
+                [
+                    -0.17088189663507344,
+                    -0.5133213559288181,
+                    0.8410116306864011
+                ],
+                [
+                    -0.19569907972876352,
+                    -0.8188777061336464,
+                    -0.5395749925548928
+                ]
+            ],
+            "translation_vector": [
+                0.630673403771883,
+                -0.2557010295757644,
+                0.46162311220861646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656727883700568,
+                    -0.2567583165067761,
+                    0.039385691643109975
+                ],
+                [
+                    -0.17079140624612854,
+                    -0.5133408541840265,
+                    0.8410181109691302
+                ],
+                [
+                    -0.19572010973344017,
+                    -0.8188750419509808,
+                    -0.5395714079857364
+                ]
+            ],
+            "translation_vector": [
+                0.630658527914995,
+                -0.2556805029533026,
+                0.4616053887097859
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656634970134672,
+                    -0.25678408280780446,
+                    0.03944547315315504
+                ],
+                [
+                    -0.17085407882363582,
+                    -0.5133233714735574,
+                    0.8410160521942176
+                ],
+                [
+                    -0.19571125232098552,
+                    -0.8188779219856736,
+                    -0.5395702499205982
+                ]
+            ],
+            "translation_vector": [
+                0.6306694620263755,
+                -0.2556920191418594,
+                0.4616141897563476
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656640784107663,
+                    -0.2567840617226848,
+                    0.039431374719705266
+                ],
+                [
+                    -0.17084211374059807,
+                    -0.513324733954103,
+                    0.8410176512318833
+                ],
+                [
+                    -0.19571882852635797,
+                    -0.8188770745088358,
+                    -0.5395687880188405
+                ]
+            ],
+            "translation_vector": [
+                0.6306672365666376,
+                -0.2556887082534807,
+                0.46161623573474836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656764772272919,
+                    -0.2567434759014555,
+                    0.03939199045397608
+                ],
+                [
+                    -0.17077537731799572,
+                    -0.5132864665130756,
+                    0.8410545605348192
+                ],
+                [
+                    -0.19571589570544234,
+                    -0.8189137872062969,
+                    -0.539514130761796
+                ]
+            ],
+            "translation_vector": [
+                0.6306594169880234,
+                -0.25567485680571417,
+                0.4616186902985557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656678244373232,
+                    -0.25675971984044504,
+                    0.039498090003739245
+                ],
+                [
+                    -0.17088030055678008,
+                    -0.5132998416311687,
+                    0.8410250861080435
+                ],
+                [
+                    -0.1956670021442342,
+                    -0.8189003106904245,
+                    -0.5395523194492031
+                ]
+            ],
+            "translation_vector": [
+                0.6306720497095313,
+                -0.25569745726645127,
+                0.46162148471568515
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656330143962203,
+                    -0.25687327698780826,
+                    0.039610618243268475
+                ],
+                [
+                    -0.17103839215658873,
+                    -0.513278591451086,
+                    0.8410059191031168
+                ],
+                [
+                    -0.19570066406774955,
+                    -0.8188780172452634,
+                    -0.5395739457719468
+                ]
+            ],
+            "translation_vector": [
+                0.6307086562499747,
+                -0.2556999724396402,
+                0.461608989437959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656133865885873,
+                    -0.25695087122443067,
+                    0.03958582344635262
+                ],
+                [
+                    -0.17106076967000935,
+                    -0.513276255430769,
+                    0.8410027935095533
+                ],
+                [
+                    -0.19577793726777218,
+                    -0.8188551369979763,
+                    -0.5395806370610441
+                ]
+            ],
+            "translation_vector": [
+                0.630701531496971,
+                -0.2557145605472469,
+                0.4615932439329631
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965567013350459,
+                    -0.25711847100738955,
+                    0.03962870924338667
+                ],
+                [
+                    -0.17120493682793692,
+                    -0.5133206503500178,
+                    0.8409463594843474
+                ],
+                [
+                    -0.1958806073484988,
+                    -0.8187746953778293,
+                    -0.5396654388356978
+                ]
+            ],
+            "translation_vector": [
+                0.6307108567728723,
+                -0.2557328777782959,
+                0.4615431283022565
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655503392967593,
+                    -0.25717539037221343,
+                    0.03966561320354494
+                ],
+                [
+                    -0.17126058884840265,
+                    -0.5132823504422092,
+                    0.8409584052923308
+                ],
+                [
+                    -0.1959141469910022,
+                    -0.8187808298387435,
+                    -0.539643956416976
+                ]
+            ],
+            "translation_vector": [
+                0.6307198977753274,
+                -0.25573324046410684,
+                0.46152175945220536
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655451135479234,
+                    -0.2571815224320274,
+                    0.03975296496202964
+                ],
+                [
+                    -0.17132651845066155,
+                    -0.5132252071967272,
+                    0.8409798515859056
+                ],
+                [
+                    -0.19588225488620167,
+                    -0.8188147233760648,
+                    -0.5396041058065404
+                ]
+            ],
+            "translation_vector": [
+                0.6307355700992503,
+                -0.25574600006417014,
+                0.4615400106576961
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654983973545374,
+                    -0.2573604092400612,
+                    0.03972989380313745
+                ],
+                [
+                    -0.17142077896844302,
+                    -0.5132739432281908,
+                    0.8409308983149785
+                ],
+                [
+                    -0.1960300008765814,
+                    -0.8187279639530903,
+                    -0.5396820914182304
+                ]
+            ],
+            "translation_vector": [
+                0.6307482621540452,
+                -0.2557749541039627,
+                0.4615003052158614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654908334931337,
+                    -0.2573680791788867,
+                    0.03986379636342875
+                ],
+                [
+                    -0.17152446017413675,
+                    -0.5132014652980595,
+                    0.8409539913561834
+                ],
+                [
+                    -0.1959765547271039,
+                    -0.8187709861955879,
+                    -0.5396362313277339
+                ]
+            ],
+            "translation_vector": [
+                0.6307698230288075,
+                -0.25578490840579954,
+                0.46151549814600307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654916210087673,
+                    -0.25736294398140996,
+                    0.03987787390376096
+                ],
+                [
+                    -0.17153590580247602,
+                    -0.5132103726973901,
+                    0.8409462208585812
+                ],
+                [
+                    -0.1959626566016768,
+                    -0.8187670171795071,
+                    -0.5396473003699599
+                ]
+            ],
+            "translation_vector": [
+                0.6307715034979371,
+                -0.2557867766922839,
+                0.461515271905798
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654834435119228,
+                    -0.25741632454216046,
+                    0.03973104785385525
+                ],
+                [
+                    -0.17144942659908083,
+                    -0.5132553175032207,
+                    0.8409364263566627
+                ],
+                [
+                    -0.19607859246538514,
+                    -0.8187220620661652,
+                    -0.539673392583811
+                ]
+            ],
+            "translation_vector": [
+                0.630748972485973,
+                -0.2557808825057235,
+                0.46147693574450366
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655037361013623,
+                    -0.2573503394024171,
+                    0.03966532974489985
+                ],
+                [
+                    -0.1713536705220452,
+                    -0.5132526758925867,
+                    0.8409575555803764
+                ],
+                [
+                    -0.19606237571990523,
+                    -0.8187444616597782,
+                    -0.5396453014050123
+                ]
+            ],
+            "translation_vector": [
+                0.6307380960993717,
+                -0.25575573578661104,
+                0.46149045609601064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654788184958999,
+                    -0.25738149674370814,
+                    0.040067644923681645
+                ],
+                [
+                    -0.1716781879911941,
+                    -0.5130696842249182,
+                    0.8410030314436465
+                ],
+                [
+                    -0.19590112507033214,
+                    -0.8188493538272541,
+                    -0.5395447015149595
+                ]
+            ],
+            "translation_vector": [
+                0.6307949884803364,
+                -0.2558332870650825,
+                0.461565754971454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654701447985521,
+                    -0.25746492838227775,
+                    0.03973927724269518
+                ],
+                [
+                    -0.1714898633549263,
+                    -0.5132777072815172,
+                    0.8409145152596297
+                ],
+                [
+                    -0.19610871033478333,
+                    -0.8186927420350921,
+                    -0.5397069277579177
+                ]
+            ],
+            "translation_vector": [
+                0.6307373768149187,
+                -0.2558266630074335,
+                0.4614818407232603
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654634702947335,
+                    -0.25744343130111946,
+                    0.040039570506647755
+                ],
+                [
+                    -0.17170355803548681,
+                    -0.5131293380519849,
+                    0.8409614560657858
+                ],
+                [
+                    -0.19595452453159956,
+                    -0.8187925024755894,
+                    -0.5396115845729752
+                ]
+            ],
+            "translation_vector": [
+                0.6307984101923629,
+                -0.2558238349738058,
+                0.4615297851711017
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654489197082522,
+                    -0.25747556943980504,
+                    0.04018351124300915
+                ],
+                [
+                    -0.17182212291702229,
+                    -0.5130237550447718,
+                    0.8410016556678407
+                ],
+                [
+                    -0.1959222843641238,
+                    -0.8188485561454023,
+                    -0.5395382290330624
+                ]
+            ],
+            "translation_vector": [
+                0.6308189048048651,
+                -0.25586231793612285,
+                0.46156113907720553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654782870144113,
+                    -0.2573967748953216,
+                    0.03998221576157745
+                ],
+                [
+                    -0.1716478669265022,
+                    -0.513217299540586,
+                    0.8409191478565882
+                ],
+                [
+                    -0.1959303118032021,
+                    -0.8187520404406671,
+                    -0.5396817665911499
+                ]
+            ],
+            "translation_vector": [
+                0.6307679342463008,
+                -0.2558475706278212,
+                0.4615254984003271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654922179442416,
+                    -0.25732487979099733,
+                    0.04010839475294447
+                ],
+                [
+                    -0.17169251840853136,
+                    -0.5131170586742723,
+                    0.84097120237259
+                ],
+                [
+                    -0.1958225120144397,
+                    -0.818837462710404,
+                    -0.5395912837049375
+                ]
+            ],
+            "translation_vector": [
+                0.6307908784919544,
+                -0.25583897338151135,
+                0.4615733734390309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654600974441699,
+                    -0.25744119920214376,
+                    0.04013513668167009
+                ],
+                [
+                    -0.17178681382011035,
+                    -0.5131347525478546,
+                    0.8409411491449251
+                ],
+                [
+                    -0.19589816446467512,
+                    -0.8187898110510503,
+                    -0.5396361315538061
+                ]
+            ],
+            "translation_vector": [
+                0.6308117362411535,
+                -0.2558511245299277,
+                0.4615478843769194
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654763118004559,
+                    -0.257377800292306,
+                    0.04015170318781782
+                ],
+                [
+                    -0.17175761889113664,
+                    -0.5131045208815633,
+                    0.8409655587500289
+                ],
+                [
+                    -0.19584384520590836,
+                    -0.8188286869471507,
+                    -0.5395968585225168
+                ]
+            ],
+            "translation_vector": [
+                0.6308056944685295,
+                -0.2558484456567546,
+                0.46156181074484365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654715958885783,
+                    -0.257397675724709,
+                    0.04013768882084941
+                ],
+                [
+                    -0.17176131111500972,
+                    -0.5131232941563968,
+                    0.8409533500724883
+                ],
+                [
+                    -0.19586385459398728,
+                    -0.8188106750193268,
+                    -0.5396169279572129
+                ]
+            ],
+            "translation_vector": [
+                0.6308089125214702,
+                -0.2558496701596317,
+                0.46156299846173976
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654908978616779,
+                    -0.25735492120144227,
+                    0.039947098513543465
+                ],
+                [
+                    -0.1715977895930831,
+                    -0.5132362627780496,
+                    0.8409177945414098
+                ],
+                [
+                    -0.19591203320117745,
+                    -0.8187533102852289,
+                    -0.5396864757838207
+                ]
+            ],
+            "translation_vector": [
+                0.6307645822774157,
+                -0.25584149574752135,
+                0.46153253700226726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654980640099758,
+                    -0.257290928437626,
+                    0.04018540203473021
+                ],
+                [
+                    -0.17173711968060837,
+                    -0.5131045668338354,
+                    0.8409697171825335
+                ],
+                [
+                    -0.19575456601774804,
+                    -0.8188559590294049,
+                    -0.5395878688825728
+                ]
+            ],
+            "translation_vector": [
+                0.6308133737493974,
+                -0.2558466975712849,
+                0.4615955854561132
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654887515870405,
+                    -0.2573404638457307,
+                    0.040091847382755945
+                ],
+                [
+                    -0.17169512670579928,
+                    -0.5131508270942,
+                    0.8409500651751077
+                ],
+                [
+                    -0.19583731519906405,
+                    -0.818811403389207,
+                    -0.5396254549735583
+                ]
+            ],
+            "translation_vector": [
+                0.6308014494716383,
+                -0.255859271184041,
+                0.46157934382446647
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654939011695641,
+                    -0.2573359327895015,
+                    0.03999680611915478
+                ],
+                [
+                    -0.17162175282683784,
+                    -0.5132010277063102,
+                    0.840934408332678
+                ],
+                [
+                    -0.1958762383777569,
+                    -0.818781364502481,
+                    -0.5396569061750585
+                ]
+            ],
+            "translation_vector": [
+                0.6307859526277857,
+                -0.2558486732878945,
+                0.461561944220604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655131933687727,
+                    -0.25723644366457565,
+                    0.04017070427110433
+                ],
+                [
+                    -0.17170082629492903,
+                    -0.5131371183827005,
+                    0.8409572664455293
+                ],
+                [
+                    -0.19571177706125276,
+                    -0.8188526789286946,
+                    -0.5396083677361077
+                ]
+            ],
+            "translation_vector": [
+                0.6308098285392624,
+                -0.2558463653779034,
+                0.46159967191559936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654915057895858,
+                    -0.257311693515832,
+                    0.040210006567681957
+                ],
+                [
+                    -0.17177875460132264,
+                    -0.5131392243839217,
+                    0.8409400667504708
+                ],
+                [
+                    -0.19575038113826773,
+                    -0.8188277161764141,
+                    -0.5396322446866394
+                ]
+            ],
+            "translation_vector": [
+                0.6308185224191369,
+                -0.2558568491848618,
+                0.4615840047614192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655147972654264,
+                    -0.2572686875846267,
+                    0.03992491264844583
+                ],
+                [
+                    -0.1715177822041656,
+                    -0.5131895301184268,
+                    0.840962636842204
+                ],
+                [
+                    -0.19586430672602567,
+                    -0.8188097022906555,
+                    -0.539618239856124
+                ]
+            ],
+            "translation_vector": [
+                0.6307701197876294,
+                -0.255836237506756,
+                0.4615794573437425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655048935197537,
+                    -0.2572654297718199,
+                    0.040184564620390724
+                ],
+                [
+                    -0.17173053162055293,
+                    -0.5131412837950392,
+                    0.8409486591787286
+                ],
+                [
+                    -0.19572665914159926,
+                    -0.818840962281138,
+                    -0.5396207495934235
+                ]
+            ],
+            "translation_vector": [
+                0.6308151909786736,
+                -0.2558461067660023,
+                0.461591508321763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654823786669964,
+                    -0.25735859921243565,
+                    0.04012889102544071
+                ],
+                [
+                    -0.17173093628855934,
+                    -0.5131221191601156,
+                    0.8409602703755314
+                ],
+                [
+                    -0.19583733557463845,
+                    -0.818823694234629,
+                    -0.539606797358022
+                ]
+            ],
+            "translation_vector": [
+                0.6308167834237088,
+                -0.25585612643177624,
+                0.4615847533039748
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654861261454656,
+                    -0.25733874930953204,
+                    0.04016600956565797
+                ],
+                [
+                    -0.17175234748817753,
+                    -0.5131241017661071,
+                    0.8409546880296385
+                ],
+                [
+                    -0.1958000800636277,
+                    -0.8188286904417384,
+                    -0.539612735539614
+                ]
+            ],
+            "translation_vector": [
+                0.630815458407944,
+                -0.2558482135927612,
+                0.46158050810479867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654736873598676,
+                    -0.2573829047573538,
+                    0.04018207752726534
+                ],
+                [
+                    -0.17179257348873384,
+                    -0.5131278003115116,
+                    0.8409442147024898
+                ],
+                [
+                    -0.19582612366550636,
+                    -0.8188124943392939,
+                    -0.5396278610338846
+                ]
+            ],
+            "translation_vector": [
+                0.6308302479469812,
+                -0.25585071136401655,
+                0.4615675095471206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654969554199109,
+                    -0.25730956365526386,
+                    0.04009261186828052
+                ],
+                [
+                    -0.17168284766113173,
+                    -0.5131708672395732,
+                    0.8409403432084521
+                ],
+                [
+                    -0.19580763236872942,
+                    -0.8188085548332543,
+                    -0.5396405485487821
+                ]
+            ],
+            "translation_vector": [
+                0.6308091438797923,
+                -0.25583241324454165,
+                0.4615706056937299
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654887634332044,
+                    -0.25734214100476366,
+                    0.040080795242933405
+                ],
+                [
+                    -0.17168308904734797,
+                    -0.5131367212999598,
+                    0.8409611300105895
+                ],
+                [
+                    -0.19584780984065653,
+                    -0.8188197162480956,
+                    -0.5396090322298231
+                ]
+            ],
+            "translation_vector": [
+                0.630809081879224,
+                -0.2558308651695559,
+                0.46157600584449276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654635191319568,
+                    -0.2574485303244642,
+                    0.04000559284789694
+                ],
+                [
+                    -0.1716862071137475,
+                    -0.5131682693070381,
+                    0.8409412426937539
+                ],
+                [
+                    -0.1959694861763782,
+                    -0.8187665000537048,
+                    -0.5396456048904443
+                ]
+            ],
+            "translation_vector": [
+                0.6308006848209149,
+                -0.2558364297767216,
+                0.4615304964417632
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654794355598239,
+                    -0.2573919039126179,
+                    0.03998583888480601
+                ],
+                [
+                    -0.17165136789147986,
+                    -0.5132304287582176,
+                    0.8409104202574968
+                ],
+                [
+                    -0.19592158485493066,
+                    -0.8187453418474476,
+                    -0.5396950970604034
+                ]
+            ],
+            "translation_vector": [
+                0.6307983412159475,
+                -0.25582349308710195,
+                0.4615305973565093
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654838376071958,
+                    -0.25736645522036233,
+                    0.040043314630377205
+                ],
+                [
+                    -0.17164973389087115,
+                    -0.5130754210801526,
+                    0.841005339542275
+                ],
+                [
+                    -0.19590132254396667,
+                    -0.8188504869698311,
+                    -0.5395429100774056
+                ]
+            ],
+            "translation_vector": [
+                0.6308021440756698,
+                -0.2558233223378541,
+                0.46156584458540817
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654954640924504,
+                    -0.25736326923470554,
+                    0.03978261511927052
+                ],
+                [
+                    -0.17146112708042646,
+                    -0.5132438139240747,
+                    0.8409410617688847
+                ],
+                [
+                    -0.1960091597788566,
+                    -0.8187459527335046,
+                    -0.5396623705292897
+                ]
+            ],
+            "translation_vector": [
+                0.6307546059866259,
+                -0.25580932303500753,
+                0.46152508243164675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654933647078769,
+                    -0.2573478131093207,
+                    0.039933266744824454
+                ],
+                [
+                    -0.17156541720210955,
+                    -0.5131683752703486,
+                    0.8409658294144045
+                ],
+                [
+                    -0.19592822748478392,
+                    -0.8187980958149824,
+                    -0.5396126462235943
+                ]
+            ],
+            "translation_vector": [
+                0.6307863527016717,
+                -0.2558121794439197,
+                0.4615534918240343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654791263089126,
+                    -0.25739730660469146,
+                    0.03995851867160605
+                ],
+                [
+                    -0.1716186220108834,
+                    -0.5131800681753889,
+                    0.8409478379819932
+                ],
+                [
+                    -0.19595179315552116,
+                    -0.8187752097982411,
+                    -0.5396388149299327
+                ]
+            ],
+            "translation_vector": [
+                0.6307903729250911,
+                -0.2558171224023625,
+                0.4615342432159868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654865490647522,
+                    -0.25737037708035937,
+                    0.039952629156912285
+                ],
+                [
+                    -0.17159898063038115,
+                    -0.513184028561369,
+                    0.8409494293214891
+                ],
+                [
+                    -0.1959324205476219,
+                    -0.8187811928904071,
+                    -0.5396367711223098
+                ]
+            ],
+            "translation_vector": [
+                0.6307909231549623,
+                -0.2558191577400549,
+                0.4615427339896475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654786086049899,
+                    -0.25740225403537287,
+                    0.039939153016591324
+                ],
+                [
+                    -0.171608321331788,
+                    -0.5131956400129364,
+                    0.8409404373208599
+                ],
+                [
+                    -0.19596336488195734,
+                    -0.8187638943488059,
+                    -0.5396517811838657
+                ]
+            ],
+            "translation_vector": [
+                0.6307857384116021,
+                -0.2558233746867985,
+                0.461532818293351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654831414166992,
+                    -0.25737240745471557,
+                    0.040021838052567545
+                ],
+                [
+                    -0.17165525227903145,
+                    -0.5131623975805514,
+                    0.8409511448796547
+                ],
+                [
+                    -0.19589991833884002,
+                    -0.8187941118439628,
+                    -0.5396289692042968
+                ]
+            ],
+            "translation_vector": [
+                0.630801471748292,
+                -0.2558298967191885,
+                0.4615556662156362
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654897165788355,
+                    -0.25736199446266267,
+                    0.03993007621731507
+                ],
+                [
+                    -0.17157682108033542,
+                    -0.5131936248739807,
+                    0.8409480946269342
+                ],
+                [
+                    -0.19593621831730548,
+                    -0.8187778130817326,
+                    -0.5396405203064433
+                ]
+            ],
+            "translation_vector": [
+                0.6307860972601516,
+                -0.25581336080702655,
+                0.4615406583374644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654741223301007,
+                    -0.2574138510030385,
+                    0.039972846067139176
+                ],
+                [
+                    -0.17163553271665213,
+                    -0.513158899229125,
+                    0.840957304535149
+                ],
+                [
+                    -0.19596163660265928,
+                    -0.8187832762420946,
+                    -0.5396230012946714
+                ]
+            ],
+            "translation_vector": [
+                0.6307933569170597,
+                -0.2558257154473106,
+                0.46154062034929527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654786452048487,
+                    -0.2573982298481575,
+                    0.03996419553106278
+                ],
+                [
+                    -0.17161932443647326,
+                    -0.5131601275243177,
+                    0.8409598628942969
+                ],
+                [
+                    -0.19595354840721443,
+                    -0.8187874173375291,
+                    -0.5396196550130105
+                ]
+            ],
+            "translation_vector": [
+                0.6307972882199506,
+                -0.2558179155794615,
+                0.4615485105374141
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654901598420284,
+                    -0.25736005445096677,
+                    0.0399318622306812
+                ],
+                [
+                    -0.17156973697628572,
+                    -0.5131621747732207,
+                    0.8409687317230687
+                ],
+                [
+                    -0.19594023732276836,
+                    -0.8187981343133448,
+                    -0.5396082269970346
+                ]
+            ],
+            "translation_vector": [
+                0.6307875309476616,
+                -0.25581464621264377,
+                0.4615454069796574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654943737834398,
+                    -0.2573405843908084,
+                    0.03995544791290424
+                ],
+                [
+                    -0.17158192373679798,
+                    -0.5131739581882582,
+                    0.8409590549391661
+                ],
+                [
+                    -0.1959087992901371,
+                    -0.818796868742665,
+                    -0.539621561928268
+                ]
+            ],
+            "translation_vector": [
+                0.6307902628676312,
+                -0.2558161132110049,
+                0.4615535768826006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654817024124215,
+                    -0.2574047742449264,
+                    0.039848017550832074
+                ],
+                [
+                    -0.1715332545009825,
+                    -0.5132076146378851,
+                    0.840948444839512
+                ],
+                [
+                    -0.1960138385602254,
+                    -0.8187555963006367,
+                    -0.539646040121926
+                ]
+            ],
+            "translation_vector": [
+                0.630770282022125,
+                -0.2558175123659455,
+                0.46153496969227026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654856753384429,
+                    -0.2573791417157292,
+                    0.03991726601291059
+                ],
+                [
+                    -0.1715745519824487,
+                    -0.5131896346995181,
+                    0.8409509925964754
+                ],
+                [
+                    -0.19595811753610226,
+                    -0.8187749240460713,
+                    -0.5396369519640563
+                ]
+            ],
+            "translation_vector": [
+                0.6307787674530128,
+                -0.2558196064380907,
+                0.46153891902401417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654968056718115,
+                    -0.2573413689387865,
+                    0.03989157893891402
+                ],
+                [
+                    -0.17153743333116303,
+                    -0.5132186301197247,
+                    0.8409408698976343
+                ],
+                [
+                    -0.19593577315968885,
+                    -0.8187686227077493,
+                    -0.5396546259095445
+                ]
+            ],
+            "translation_vector": [
+                0.6307806410018689,
+                -0.2558095519381369,
+                0.4615352455000436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654973363408156,
+                    -0.25733333839588823,
+                    0.03993052051773799
+                ],
+                [
+                    -0.1715573886768489,
+                    -0.5131795439080632,
+                    0.8409606519360423
+                ],
+                [
+                    -0.19591568571497997,
+                    -0.818795645240215,
+                    -0.5396209182625241
+                ]
+            ],
+            "translation_vector": [
+                0.6307803723984386,
+                -0.2558165395315852,
+                0.4615560613644953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654997728154685,
+                    -0.2573381430448865,
+                    0.039840542509962086
+                ],
+                [
+                    -0.17149409469182036,
+                    -0.5132310219087408,
+                    0.8409421464264605
+                ],
+                [
+                    -0.1959590880237799,
+                    -0.818761869095477,
+                    -0.539656406925897
+                ]
+            ],
+            "translation_vector": [
+                0.6307652812384206,
+                -0.2558116375491497,
+                0.46153713089011694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654911498957458,
+                    -0.25735405796314853,
+                    0.03994656834937357
+                ],
+                [
+                    -0.17158192385930937,
+                    -0.513173958279838,
+                    0.8409590548582857
+                ],
+                [
+                    -0.19592468674908967,
+                    -0.8187926339393286,
+                    -0.5396222194544694
+                ]
+            ],
+            "translation_vector": [
+                0.6307877275642909,
+                -0.25581611326162285,
+                0.46154876489831703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654893468148928,
+                    -0.25736751407690944,
+                    0.03990343199303948
+                ],
+                [
+                    -0.17155501927111272,
+                    -0.5131862581687399,
+                    0.8409570380166014
+                ],
+                [
+                    -0.19595712936721507,
+                    -0.8187806953785851,
+                    -0.5396285540309381
+                ]
+            ],
+            "translation_vector": [
+                0.6307764393142565,
+                -0.25581290577384636,
+                0.4615341028551104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654853999021681,
+                    -0.2573838186918138,
+                    0.039893764567539985
+                ],
+                [
+                    -0.1715552553974075,
+                    -0.5131833203386005,
+                    0.8409587826236075
+                ],
+                [
+                    -0.19597636827250642,
+                    -0.8187774115117423,
+                    -0.5396265500110702
+                ]
+            ],
+            "translation_vector": [
+                0.6307833390311536,
+                -0.2558083292692052,
+                0.46154185054149577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965493661325628,
+                    -0.2573470216402282,
+                    0.03993119573638437
+                ],
+                [
+                    -0.1715620418587844,
+                    -0.5131637067475993,
+                    0.8409693667847293
+                ],
+                [
+                    -0.19592972141377177,
+                    -0.8188012704740802,
+                    -0.5396072865860448
+                ]
+            ],
+            "translation_vector": [
+                0.6307840609069991,
+                -0.25581583458460944,
+                0.4615522231946215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654928151964932,
+                    -0.2573482102292168,
+                    0.039943991985893226
+                ],
+                [
+                    -0.17158107194676028,
+                    -0.5131938052272841,
+                    0.8409471172588328
+                ],
+                [
+                    -0.19591722628077124,
+                    -0.8187820326363783,
+                    -0.5396410135250005
+                ]
+            ],
+            "translation_vector": [
+                0.6307847641933695,
+                -0.2558178460233403,
+                0.46154588575444094
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654925210351568,
+                    -0.25735264077754794,
+                    0.039922551396415554
+                ],
+                [
+                    -0.17156345612393625,
+                    -0.513187602263285,
+                    0.8409544966322912
+                ],
+                [
+                    -0.19593410205471443,
+                    -0.8187845279242169,
+                    -0.5396311003675845
+                ]
+            ],
+            "translation_vector": [
+                0.630783513529479,
+                -0.2558113162348711,
+                0.46154053037201687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654804866781682,
+                    -0.2574000256987414,
+                    0.0399081021094162
+                ],
+                [
+                    -0.17157470983895384,
+                    -0.5131735538030495,
+                    0.840960773532766
+                ],
+                [
+                    -0.19598354213394326,
+                    -0.8187784379473098,
+                    -0.539622387197934
+                ]
+            ],
+            "translation_vector": [
+                0.6307875420792124,
+                -0.25581691815338,
+                0.4615421285757883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654975789073289,
+                    -0.2573312177289556,
+                    0.039938321274420256
+                ],
+                [
+                    -0.1715632804841694,
+                    -0.5131808587178008,
+                    0.8409586476368328
+                ],
+                [
+                    -0.19590933084872733,
+                    -0.8187954876694141,
+                    -0.5396234645181864
+                ]
+            ],
+            "translation_vector": [
+                0.6307828718091787,
+                -0.2558152147340493,
+                0.46154944280760624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654848114513548,
+                    -0.257384962330205,
+                    0.03990062684997666
+                ],
+                [
+                    -0.17156397086140165,
+                    -0.5131920179140047,
+                    0.8409516969788574
+                ],
+                [
+                    -0.1959716376392519,
+                    -0.81877160057957,
+                    -0.5396370848314253
+                ]
+            ],
+            "translation_vector": [
+                0.6307842169677597,
+                -0.25581298701160815,
+                0.4615409346541993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965506889234019,
+                    -0.25731073157615353,
+                    0.039845128402265874
+                ],
+                [
+                    -0.17147587665984615,
+                    -0.5132039598830996,
+                    0.8409623768540679
+                ],
+                [
+                    -0.1959399667382476,
+                    -0.8187874467626203,
+                    -0.5396245421203189
+                ]
+            ],
+            "translation_vector": [
+                0.6307638613134302,
+                -0.2558066655497353,
+                0.4615472979808357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654916525419383,
+                    -0.25736665006973625,
+                    0.03985318436109651
+                ],
+                [
+                    -0.17151919731720022,
+                    -0.5132215218808729,
+                    0.8409428247092333
+                ],
+                [
+                    -0.19597712576599588,
+                    -0.8187588637139527,
+                    -0.5396544165170303
+                ]
+            ],
+            "translation_vector": [
+                0.6307657841177314,
+                -0.2558146787315038,
+                0.46153071676900387
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654906449305467,
+                    -0.25736161861402634,
+                    0.03991004655429045
+                ],
+                [
+                    -0.17155507946182072,
+                    -0.5131765769680694,
+                    0.8409629335245303
+                ],
+                [
+                    -0.19595068068890584,
+                    -0.8187886162592296,
+                    -0.5396188771919038
+                ]
+            ],
+            "translation_vector": [
+                0.6307826089912021,
+                -0.25581222778074836,
+                0.4615511610689407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655021760764088,
+                    -0.2573233462666679,
+                    0.039877856735834626
+                ],
+                [
+                    -0.17150624706317144,
+                    -0.51318148776743,
+                    0.8409698971016224
+                ],
+                [
+                    -0.1959366101830528,
+                    -0.818797567216056,
+                    -0.5396104045615158
+                ]
+            ],
+            "translation_vector": [
+                0.6307714591501661,
+                -0.2558085620517914,
+                0.4615511743350724
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654960326111619,
+                    -0.25734484572090516,
+                    0.039887860220750894
+                ],
+                [
+                    -0.17153590965467938,
+                    -0.5132174574374787,
+                    0.8409418963759338
+                ],
+                [
+                    -0.19594091637799477,
+                    -0.818768264994616,
+                    -0.5396533012283521
+                ]
+            ],
+            "translation_vector": [
+                0.6307744710050905,
+                -0.2558154020498865,
+                0.4615413316607498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965502517283037,
+                    -0.2573139871064896,
+                    0.039929953161508734
+                ],
+                [
+                    -0.17153423945594415,
+                    -0.5131312821176345,
+                    0.840994822817943
+                ],
+                [
+                    -0.19591042293453864,
+                    -0.8188319725997965,
+                    -0.5395677036609366
+                ]
+            ],
+            "translation_vector": [
+                0.6307794400086215,
+                -0.25581118809917835,
+                0.46157564205361634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654846716995098,
+                    -0.25738497781622904,
+                    0.0399039084279926
+                ],
+                [
+                    -0.1715627439536699,
+                    -0.5131749126038556,
+                    0.8409623855804211
+                ],
+                [
+                    -0.19597340023681242,
+                    -0.8187823167781318,
+                    -0.5396201850663648
+                ]
+            ],
+            "translation_vector": [
+                0.6307876772873834,
+                -0.2558136053540587,
+                0.46154986032902523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965494872597215,
+                    -0.25735153844005154,
+                    0.03987275574908952
+                ],
+                [
+                    -0.17152447573632595,
+                    -0.5132085988822189,
+                    0.8409496347919585
+                ],
+                [
+                    -0.19595664115274697,
+                    -0.8187717140301615,
+                    -0.5396423585044499
+                ]
+            ],
+            "translation_vector": [
+                0.6307729674052914,
+                -0.2558135324747378,
+                0.46154051926257195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654971088719176,
+                    -0.25733586672084574,
+                    0.03991972518692078
+                ],
+                [
+                    -0.17154757717289199,
+                    -0.5131717708383695,
+                    0.8409673967406361
+                ],
+                [
+                    -0.19592539785867177,
+                    -0.8187997223458513,
+                    -0.5396112055547755
+                ]
+            ],
+            "translation_vector": [
+                0.6307849754348945,
+                -0.2558088493012403,
+                0.46154964288800737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654957932895699,
+                    -0.25734493184290996,
+                    0.03989309708348794
+                ],
+                [
+                    -0.17153468088334542,
+                    -0.5131930559975171,
+                    0.8409570384568871
+                ],
+                [
+                    -0.19594317133902203,
+                    -0.8187835326450439,
+                    -0.5396293174716411
+                ]
+            ],
+            "translation_vector": [
+                0.6307774031214906,
+                -0.25580725598956416,
+                0.4615430605693332
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654858002599246,
+                    -0.2573817639749291,
+                    0.03989733161010817
+                ],
+                [
+                    -0.17155378074546876,
+                    -0.5131691063483915,
+                    0.8409677571711824
+                ],
+                [
+                    -0.19597568677871408,
+                    -0.8187869661045827,
+                    -0.5396123000162841
+                ]
+            ],
+            "translation_vector": [
+                0.6307774519490095,
+                -0.2558135256016676,
+                0.46153783202722376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654870228230745,
+                    -0.25737508994298935,
+                    0.03991079850209267
+                ],
+                [
+                    -0.1715603606799208,
+                    -0.5131635954075415,
+                    0.840969777692267
+                ],
+                [
+                    -0.1959639033179633,
+                    -0.818792517934332,
+                    -0.5396081552118582
+                ]
+            ],
+            "translation_vector": [
+                0.6307848838840802,
+                -0.25581108721638823,
+                0.4615504520784141
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654903079232393,
+                    -0.2573648130626742,
+                    0.03989759771594375
+                ],
+                [
+                    -0.1715462935745668,
+                    -0.5131775111618035,
+                    0.8409641557156913
+                ],
+                [
+                    -0.19596003283097585,
+                    -0.818787026665049,
+                    -0.5396178930483043
+                ]
+            ],
+            "translation_vector": [
+                0.6307753848983775,
+                -0.2558082496270112,
+                0.461536057347068
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654866386811167,
+                    -0.25737642866035076,
+                    0.03991145823296821
+                ],
+                [
+                    -0.17156584026825805,
+                    -0.5131808787217941,
+                    0.8409581132062248
+                ],
+                [
+                    -0.19596099862290225,
+                    -0.8187812648591628,
+                    -0.5396262848808833
+                ]
+            ],
+            "translation_vector": [
+                0.6307777158351059,
+                -0.25581495418918765,
+                0.4615408042919935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654881466592979,
+                    -0.2573809297766388,
+                    0.03984589875642595
+                ],
+                [
+                    -0.17151010878074227,
+                    -0.5131758181240467,
+                    0.8409725692784121
+                ],
+                [
+                    -0.1960023501043095,
+                    -0.8187830217341031,
+                    -0.5396086008150345
+                ]
+            ],
+            "translation_vector": [
+                0.6307683552562389,
+                -0.2558089118424674,
+                0.4615412469571414
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655060397044837,
+                    -0.25729926520128105,
+                    0.03993964723235606
+                ],
+                [
+                    -0.1715425686079432,
+                    -0.5131661233066894,
+                    0.8409718645981998
+                ],
+                [
+                    -0.19588576887960313,
+                    -0.8188147641666365,
+                    -0.5396027682779084
+                ]
+            ],
+            "translation_vector": [
+                0.6307838745882903,
+                -0.25579847103596925,
+                0.46155707102517907
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655063351472536,
+                    -0.25731211467008464,
+                    0.03984962276519883
+                ],
+                [
+                    -0.17147610074918565,
+                    -0.5131852202239466,
+                    0.8409737669009387
+                ],
+                [
+                    -0.19594250090874768,
+                    -0.8187987575636083,
+                    -0.5396064593293122
+                ]
+            ],
+            "translation_vector": [
+                0.6307641876516537,
+                -0.25579767347491433,
+                0.4615542380291237
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655139241598424,
+                    -0.2572823678289117,
+                    0.03985781551729437
+                ],
+                [
+                    -0.17147432595796067,
+                    -0.513219342436908,
+                    0.8409533055324122
+                ],
+                [
+                    -0.19590665581017175,
+                    -0.818786718109775,
+                    -0.5396377418753237
+                ]
+            ],
+            "translation_vector": [
+                0.6307658542294817,
+                -0.2557919487680537,
+                0.46154723664282526
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655079465596584,
+                    -0.25729608713359986,
+                    0.03991401603309976
+                ],
+                [
+                    -0.17151129756598668,
+                    -0.5131363565400262,
+                    0.8409964057022233
+                ],
+                [
+                    -0.19590375171849853,
+                    -0.8188344174145136,
+                    -0.5395664156710004
+                ]
+            ],
+            "translation_vector": [
+                0.6307728387628033,
+                -0.25580622017515736,
+                0.46157474198336157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655070431732748,
+                    -0.25731134308391906,
+                    0.03983744850201086
+                ],
+                [
+                    -0.1714681482888061,
+                    -0.5131981508939228,
+                    0.8409674976129976
+                ],
+                [
+                    -0.19594597139315895,
+                    -0.8187908955523435,
+                    -0.5396171287638888
+                ]
+            ],
+            "translation_vector": [
+                0.6307573124227491,
+                -0.25579907550350556,
+                0.4615419149142111
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654939738401184,
+                    -0.2573470896555636,
+                    0.03992320032547796
+                ],
+                [
+                    -0.17154390113890333,
+                    -0.5131168377423672,
+                    0.8410016651632264
+                ],
+                [
+                    -0.1959440646216748,
+                    -0.8188306212343825,
+                    -0.5395575384224117
+                ]
+            ],
+            "translation_vector": [
+                0.6307698622263855,
+                -0.25581499574758326,
+                0.46156845645426625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655193467965721,
+                    -0.2572551567426121,
+                    0.03990207126021629
+                ],
+                [
+                    -0.17148101144037037,
+                    -0.5131514499344056,
+                    0.8409933722364316
+                ],
+                [
+                    -0.19587407607161517,
+                    -0.8188378189602333,
+                    -0.5395720272248553
+                ]
+            ],
+            "translation_vector": [
+                0.6307696292794642,
+                -0.25579558480678277,
+                0.4615740109157204
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655186962119806,
+                    -0.2572805437783891,
+                    0.039753855891144135
+                ],
+                [
+                    -0.1713875412248374,
+                    -0.5132394439466189,
+                    0.8409587290053362
+                ],
+                [
+                    -0.195959072201371,
+                    -0.8187746912127061,
+                    -0.5396369585670685
+                ]
+            ],
+            "translation_vector": [
+                0.630745401839141,
+                -0.25579363437404495,
+                0.46154571711501596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655065451318707,
+                    -0.2573089327763002,
+                    0.039865077712710736
+                ],
+                [
+                    -0.17147714457179145,
+                    -0.5131409596207559,
+                    0.8410005615033768
+                ],
+                [
+                    -0.19594055271184663,
+                    -0.8188274962853969,
+                    -0.5395635561543837
+                ]
+            ],
+            "translation_vector": [
+                0.6307677480398807,
+                -0.255795068954245,
+                0.46156433966801125
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655291682365341,
+                    -0.2572431905404308,
+                    0.039741240607789295
+                ],
+                [
+                    -0.17135370797814892,
+                    -0.5132335805004101,
+                    0.8409692019383754
+                ],
+                [
+                    -0.19593706144220355,
+                    -0.818790102997898,
+                    -0.5396215666428517
+                ]
+            ],
+            "translation_vector": [
+                0.6307363643766232,
+                -0.2557873129730334,
+                0.46154869019656497
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655106548777646,
+                    -0.2572953622627588,
+                    0.0398531288054845
+                ],
+                [
+                    -0.1714667598036319,
+                    -0.5131736080760833,
+                    0.8409827574074386
+                ],
+                [
+                    -0.19592938932164924,
+                    -0.8188112997096771,
+                    -0.5395921884792212
+                ]
+            ],
+            "translation_vector": [
+                0.6307669962916542,
+                -0.25579345690732497,
+                0.46155835675531715
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655013292222545,
+                    -0.2573424514854172,
+                    0.039774941024917784
+                ],
+                [
+                    -0.17144372439616629,
+                    -0.5132489637086931,
+                    0.8409414668198519
+                ],
+                [
+                    -0.19599549136454975,
+                    -0.8187492680396291,
+                    -0.5396623050105873
+                ]
+            ],
+            "translation_vector": [
+                0.6307516127602739,
+                -0.25580391143153414,
+                0.4615434671722412
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655244648860885,
+                    -0.2572347439203467,
+                    0.03990982619188498
+                ],
+                [
+                    -0.17147399332954105,
+                    -0.5131428508173803,
+                    0.8410000500990664
+                ],
+                [
+                    -0.19585499053650204,
+                    -0.8188496206112852,
+                    -0.5395610452086966
+                ]
+            ],
+            "translation_vector": [
+                0.6307648660320141,
+                -0.2557956788941923,
+                0.4615747396665087
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655214504348903,
+                    -0.2572600186105834,
+                    0.03981973850475836
+                ],
+                [
+                    -0.17140664183409288,
+                    -0.5131286911378091,
+                    0.841022419122319
+                ],
+                [
+                    -0.1959287928949292,
+                    -0.8188505536150543,
+                    -0.5395328339953508
+                ]
+            ],
+            "translation_vector": [
+                0.630756019703942,
+                -0.2557902989804901,
+                0.4615777051246607
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96552710212004,
+                    -0.2572708385037674,
+                    0.03961225476094986
+                ],
+                [
+                    -0.17127223970827044,
+                    -0.5132962675966445,
+                    0.8409475379455408
+                ],
+                [
+                    -0.196018455705045,
+                    -0.8187421189403429,
+                    -0.5396648105037857
+                ]
+            ],
+            "translation_vector": [
+                0.6307190723522719,
+                -0.2557857147872211,
+                0.4615342236405492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654998145509708,
+                    -0.2573214032062755,
+                    0.03994750998491521
+                ],
+                [
+                    -0.17153444511081212,
+                    -0.5130504321740385,
+                    0.8410441059698109
+                ],
+                [
+                    -0.19592356224448157,
+                    -0.8188803023018604,
+                    -0.5394895812334535
+                ]
+            ],
+            "translation_vector": [
+                0.6307854383149885,
+                -0.2558048546054086,
+                0.46159239191045187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655025142751623,
+                    -0.2573233972521194,
+                    0.039869338531860636
+                ],
+                [
+                    -0.17149221826961544,
+                    -0.5131537468142464,
+                    0.8409896855511768
+                ],
+                [
+                    -0.19594722248939053,
+                    -0.8188149371849103,
+                    -0.5395801929663143
+                ]
+            ],
+            "translation_vector": [
+                0.630771903781028,
+                -0.2558004879151748,
+                0.4615618918173249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655196952038587,
+                    -0.25729461209570254,
+                    0.03963837484016729
+                ],
+                [
+                    -0.1712930056061202,
+                    -0.5132309761694313,
+                    0.8409831575784347
+                ],
+                [
+                    -0.1960367934951735,
+                    -0.8187755783404232,
+                    -0.5396073831124218
+                ]
+            ],
+            "translation_vector": [
+                0.6307242599829856,
+                -0.25578893602562636,
+                0.46154475843920484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965528951236951,
+                    -0.257218492598083,
+                    0.03990603198569326
+                ],
+                [
+                    -0.17144546860998797,
+                    -0.5130764020555738,
+                    0.8410464059413183
+                ],
+                [
+                    -0.1958578454297271,
+                    -0.8188963626242806,
+                    -0.5394890653797794
+                ]
+            ],
+            "translation_vector": [
+                0.630773709378727,
+                -0.2557936332169441,
+                0.4616060323524671
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655151560854526,
+                    -0.25728396638079376,
+                    0.03981763444318108
+                ],
+                [
+                    -0.17142162062128405,
+                    -0.5131415079604208,
+                    0.8410115461702522
+                ],
+                [
+                    -0.19594670538913578,
+                    -0.8188349976957947,
+                    -0.5395499376291979
+                ]
+            ],
+            "translation_vector": [
+                0.6307571769031219,
+                -0.25579569374319094,
+                0.4615730616587506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655230405013289,
+                    -0.257264882914749,
+                    0.03974969534385949
+                ],
+                [
+                    -0.17135745578968653,
+                    -0.5131664391733399,
+                    0.8410094102038577
+                ],
+                [
+                    -0.19596397782846403,
+                    -0.818825369492797,
+                    -0.5395582764341864
+                ]
+            ],
+            "translation_vector": [
+                0.6307488131328503,
+                -0.2557856674575436,
+                0.46156752789478633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655130958977883,
+                    -0.257280466744664,
+                    0.03989013764723796
+                ],
+                [
+                    -0.17146555006929287,
+                    -0.5130695519322168,
+                    0.8410464909976789
+                ],
+                [
+                    -0.19591841870866178,
+                    -0.8188811857111639,
+                    -0.539490108249424
+                ]
+            ],
+            "translation_vector": [
+                0.6307694948053821,
+                -0.2558017809808206,
+                0.46159162666943915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655281079883595,
+                    -0.2572470220803927,
+                    0.03974219816754667
+                ],
+                [
+                    -0.17135331888491795,
+                    -0.5132192785354175,
+                    0.8409780093716537
+                ],
+                [
+                    -0.19594262627499473,
+                    -0.8187978638042208,
+                    -0.5396077699941896
+                ]
+            ],
+            "translation_vector": [
+                0.630738899485666,
+                -0.25578752435641294,
+                0.4615584336531304
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655110438589606,
+                    -0.2572922339040716,
+                    0.039863900449316376
+                ],
+                [
+                    -0.1714634223973863,
+                    -0.5131279533799047,
+                    0.8410112949538346
+                ],
+                [
+                    -0.19593039316593028,
+                    -0.8188408940892016,
+                    -0.5395469128825048
+                ]
+            ],
+            "translation_vector": [
+                0.6307665403507902,
+                -0.25579945392998843,
+                0.4615762302254501
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655157802080162,
+                    -0.2572736882426742,
+                    0.039868878932283774
+                ],
+                [
+                    -0.17145092250190933,
+                    -0.5131020722193637,
+                    0.8410296336381016
+                ],
+                [
+                    -0.1959179913702417,
+                    -0.8188629389722106,
+                    -0.5395179587699038
+                ]
+            ],
+            "translation_vector": [
+                0.6307692807761814,
+                -0.2557956814584376,
+                0.46158474925417625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965509691370595,
+                    -0.25730926627767026,
+                    0.03978664797524101
+                ],
+                [
+                    -0.17140876721243906,
+                    -0.5131399050017372,
+                    0.8410151439882164
+                ],
+                [
+                    -0.19598487286566424,
+                    -0.8188280523910106,
+                    -0.5395466154331563
+                ]
+            ],
+            "translation_vector": [
+                0.6307555615762512,
+                -0.25579532016637796,
+                0.4615717622164182
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655000823416294,
+                    -0.25733628550803356,
+                    0.03984503933032441
+                ],
+                [
+                    -0.17147779966369284,
+                    -0.5131510275687342,
+                    0.8409942848364969
+                ],
+                [
+                    -0.19597182251743667,
+                    -0.8188125909303547,
+                    -0.53957481938385
+                ]
+            ],
+            "translation_vector": [
+                0.6307663647885081,
+                -0.25580597057139004,
+                0.4615730987566238
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655096753694604,
+                    -0.25729574943762745,
+                    0.03987435377894938
+                ],
+                [
+                    -0.17147079449288682,
+                    -0.513112276648216,
+                    0.8410193566077199
+                ],
+                [
+                    -0.1959306852025415,
+                    -0.818849613100119,
+                    -0.5395335742304165
+                ]
+            ],
+            "translation_vector": [
+                0.6307705894572607,
+                -0.2557959609409867,
+                0.4615754676504531
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965499418289731,
+                    -0.2573382276098682,
+                    0.039848587086654
+                ],
+                [
+                    -0.17148228716348696,
+                    -0.5131522078596812,
+                    0.8409926496455922
+                ],
+                [
+                    -0.1959711674491183,
+                    -0.8188112408726116,
+                    -0.5395771060277516
+                ]
+            ],
+            "translation_vector": [
+                0.6307664978350537,
+                -0.25581468019989634,
+                0.4615667804222295
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655208472673745,
+                    -0.2572667457715484,
+                    0.039790891070812566
+                ],
+                [
+                    -0.17139821856159385,
+                    -0.5131823630790252,
+                    0.8409913869348128
+                ],
+                [
+                    -0.1959391338298807,
+                    -0.8188148043023804,
+                    -0.5395833319231156
+                ]
+            ],
+            "translation_vector": [
+                0.6307528161077375,
+                -0.25579437462628796,
+                0.4615631675567379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655125761882528,
+                    -0.25728536676932495,
+                    0.03987110819500762
+                ],
+                [
+                    -0.17145303488879604,
+                    -0.5130747725049072,
+                    0.8410458576358719
+                ],
+                [
+                    -0.19593193218499474,
+                    -0.8188763752028826,
+                    -0.5394925023434923
+                ]
+            ],
+            "translation_vector": [
+                0.6307714882605384,
+                -0.2557949866211192,
+                0.4615884540495028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655091824081359,
+                    -0.2573115447443917,
+                    0.039784263557696015
+                ],
+                [
+                    -0.17141827807103846,
+                    -0.5131828548523651,
+                    0.8409869983708053
+                ],
+                [
+                    -0.1959790617100037,
+                    -0.8188004191662529,
+                    -0.5395906605422625
+                ]
+            ],
+            "translation_vector": [
+                0.6307554111971575,
+                -0.25579398475129744,
+                0.4615603422207696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965508700408454,
+                    -0.25729936355571237,
+                    0.03987464042976667
+                ],
+                [
+                    -0.17147904132552907,
+                    -0.5131370296806226,
+                    0.8410025726218828
+                ],
+                [
+                    -0.19592827213461392,
+                    -0.8188329660464174,
+                    -0.5395597148545948
+                ]
+            ],
+            "translation_vector": [
+                0.6307661878385974,
+                -0.25580837338287665,
+                0.4615806004622507
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655166163388534,
+                    -0.25727975731099223,
+                    0.03980942164322767
+                ],
+                [
+                    -0.17141334521618992,
+                    -0.5131469160841412,
+                    0.8410099331132365
+                ],
+                [
+                    -0.1959467495401918,
+                    -0.818832931061845,
+                    -0.5395530579593643
+                ]
+            ],
+            "translation_vector": [
+                0.6307583646031335,
+                -0.25579338094059895,
+                0.46157218617832085
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655134521830535,
+                    -0.25727837835928097,
+                    0.039894983173093576
+                ],
+                [
+                    -0.17147995908755168,
+                    -0.5131171461557278,
+                    0.8410145170877452
+                ],
+                [
+                    -0.19590405122124022,
+                    -0.818852019811773,
+                    -0.5395395929542942
+                ]
+            ],
+            "translation_vector": [
+                0.6307697618617416,
+                -0.2558040757783142,
+                0.4615845983271924
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655136673322912,
+                    -0.25728311142260757,
+                    0.03985923696273915
+                ],
+                [
+                    -0.17145200227266907,
+                    -0.5131190841450892,
+                    0.8410190345068281
+                ],
+                [
+                    -0.19592745879851142,
+                    -0.8188493182892729,
+                    -0.53953519331546
+                ]
+            ],
+            "translation_vector": [
+                0.6307673096016732,
+                -0.25579758873793124,
+                0.46158173608142383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655049015649498,
+                    -0.25732282841336046,
+                    0.03981516082354572
+                ],
+                [
+                    -0.1714438036764458,
+                    -0.5131499989965589,
+                    0.8410018434645574
+                ],
+                [
+                    -0.19597782332449987,
+                    -0.8188174647057671,
+                    -0.5395652437451945
+                ]
+            ],
+            "translation_vector": [
+                0.6307634155159084,
+                -0.25580037237641146,
+                0.4615573461507835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655134894076626,
+                    -0.25728285466852063,
+                    0.03986520369264707
+                ],
+                [
+                    -0.17144366167928007,
+                    -0.5130631195976818,
+                    0.8410548770316331
+                ],
+                [
+                    -0.19593563392563362,
+                    -0.8188844656008025,
+                    -0.5394788775808079
+                ]
+            ],
+            "translation_vector": [
+                0.6307718509768766,
+                -0.25579075601578305,
+                0.4615872844422356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655219714586514,
+                    -0.25725599953965994,
+                    0.03983306831578317
+                ],
+                [
+                    -0.1714196906205994,
+                    -0.5131443414063017,
+                    0.8410102107288776
+                ],
+                [
+                    -0.19591480877702272,
+                    -0.8188420089269625,
+                    -0.5395508800088452
+                ]
+            ],
+            "translation_vector": [
+                0.6307588083328691,
+                -0.2557955189330448,
+                0.46157745633425545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655162602958274,
+                    -0.25727988234579574,
+                    0.03981724807785758
+                ],
+                [
+                    -0.1714189017082785,
+                    -0.5131413478227155,
+                    0.8410121980636277
+                ],
+                [
+                    -0.19594364302392592,
+                    -0.8188363812721199,
+                    -0.5395489500163
+                ]
+            ],
+            "translation_vector": [
+                0.6307592632930848,
+                -0.2557984819190992,
+                0.46157511992547373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655068357871956,
+                    -0.2573119269260119,
+                    0.03983870366641113
+                ],
+                [
+                    -0.17144651938043112,
+                    -0.5131018036126231,
+                    0.8410306951127342
+                ],
+                [
+                    -0.19596591805855654,
+                    -0.8188510923184362,
+                    -0.5395185331092633
+                ]
+            ],
+            "translation_vector": [
+                0.630769743427899,
+                -0.2557937220534461,
+                0.4615798266376337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655074611195958,
+                    -0.25730802169019557,
+                    0.03984877032318159
+                ],
+                [
+                    -0.17146088012250135,
+                    -0.5131345368076089,
+                    0.8410077964697221
+                ],
+                [
+                    -0.19595027203351614,
+                    -0.8188318075826795,
+                    -0.539553483707475
+                ]
+            ],
+            "translation_vector": [
+                0.6307690923089865,
+                -0.25579834358992826,
+                0.4615704777045967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655134081607893,
+                    -0.2572892923203424,
+                    0.03982560381255463
+                ],
+                [
+                    -0.1714440305107642,
+                    -0.5131933735179923,
+                    0.8409753300658983
+                ],
+                [
+                    -0.1959357115585654,
+                    -0.8188008191462194,
+                    -0.5396057963935514
+                ]
+            ],
+            "translation_vector": [
+                0.630758760527914,
+                -0.25580606618362595,
+                0.4615681464295771
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655124050124668,
+                    -0.2572943870925436,
+                    0.039817008146204445
+                ],
+                [
+                    -0.1714273395842855,
+                    -0.5131426923998573,
+                    0.8410096577802658
+                ],
+                [
+                    -0.1959552576740329,
+                    -0.8188309810988457,
+                    -0.5395529273228028
+                ]
+            ],
+            "translation_vector": [
+                0.6307615150680057,
+                -0.25579689226762337,
+                0.46157046456948353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655090613419942,
+                    -0.2573019132114069,
+                    0.03984944070185797
+                ],
+                [
+                    -0.17145949538486407,
+                    -0.513140961290061,
+                    0.8410041589009416
+                ],
+                [
+                    -0.19594359879533954,
+                    -0.818829701039271,
+                    -0.5395591040720834
+                ]
+            ],
+            "translation_vector": [
+                0.6307619377336333,
+                -0.25581043341723747,
+                0.46157791687762845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655143708207764,
+                    -0.2572771728213301,
+                    0.039880522609708355
+                ],
+                [
+                    -0.17146614601375434,
+                    -0.513114950862912,
+                    0.841018672784464
+                ],
+                [
+                    -0.19591161402466659,
+                    -0.8188537742149173,
+                    -0.5395341842221263
+                ]
+            ],
+            "translation_vector": [
+                0.6307717723397546,
+                -0.25579857423340263,
+                0.461577337952221
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655073243239296,
+                    -0.25729782245361743,
+                    0.039917881174651684
+                ],
+                [
+                    -0.171496081057543,
+                    -0.5130545204816216,
+                    0.8410494356429226
+                ],
+                [
+                    -0.19592013898206442,
+                    -0.8188851504173225,
+                    -0.5394834655179419
+                ]
+            ],
+            "translation_vector": [
+                0.6307736852091881,
+                -0.2558099146253865,
+                0.4615915638208034
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655217487506285,
+                    -0.2572730861698802,
+                    0.03972797279189914
+                ],
+                [
+                    -0.17135108259194826,
+                    -0.5131991937824913,
+                    0.8409907217059938
+                ],
+                [
+                    -0.19597591480612037,
+                    -0.8188022634516996,
+                    -0.5395890048752642
+                ]
+            ],
+            "translation_vector": [
+                0.6307430308085529,
+                -0.2557910781060823,
+                0.4615637039235151
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655115051409173,
+                    -0.25728419121230495,
+                    0.039904616183477945
+                ],
+                [
+                    -0.17148270269075638,
+                    -0.5130795966076213,
+                    0.841036866149656
+                ],
+                [
+                    -0.19591124551284506,
+                    -0.8188737219481346,
+                    -0.5395040420464104
+                ]
+            ],
+            "translation_vector": [
+                0.6307753361942042,
+                -0.25580484847419055,
+                0.4615897657673812
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654960680001466,
+                    -0.2573473055249668,
+                    0.039871130098052
+                ],
+                [
+                    -0.1714979884112538,
+                    -0.5131139955974694,
+                    0.8410127629785968
+                ],
+                [
+                    -0.19597393359105142,
+                    -0.8188323344012739,
+                    -0.5395440904057893
+                ]
+            ],
+            "translation_vector": [
+                0.6307758034695485,
+                -0.2558040384374308,
+                0.46157234975639005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655111546851479,
+                    -0.25729896619556303,
+                    0.03981773691769364
+                ],
+                [
+                    -0.17142311462447252,
+                    -0.5131114033379814,
+                    0.841029609191598
+                ],
+                [
+                    -0.19596511411727627,
+                    -0.8188491495747074,
+                    -0.5395217736938714
+                ]
+            ],
+            "translation_vector": [
+                0.6307611514867645,
+                -0.2557954325894781,
+                0.46157157407115795
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655178932005402,
+                    -0.25727413708263963,
+                    0.03981477487031174
+                ],
+                [
+                    -0.17141316874213294,
+                    -0.513140172774141,
+                    0.8410140835129372
+                ],
+                [
+                    -0.19594061215422268,
+                    -0.8188389227886691,
+                    -0.5395461936061829
+                ]
+            ],
+            "translation_vector": [
+                0.6307554524646685,
+                -0.25579727947430786,
+                0.4615747108643974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965519773863283,
+                    -0.2572794012544734,
+                    0.039735072280477325
+                ],
+                [
+                    -0.17135618421114504,
+                    -0.5131795274966748,
+                    0.8410016829298773
+                ],
+                [
+                    -0.19598118382026167,
+                    -0.818812605086432,
+                    -0.5395713978149506
+                ]
+            ],
+            "translation_vector": [
+                0.6307422143130988,
+                -0.25579383034925146,
+                0.4615665244098051
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655088863920541,
+                    -0.25729858628207114,
+                    0.03987515260439099
+                ],
+                [
+                    -0.1714790413248457,
+                    -0.5131370296777676,
+                    0.8410025726237642
+                ],
+                [
+                    -0.19592735563031452,
+                    -0.818833210288106,
+                    -0.5395596770005955
+                ]
+            ],
+            "translation_vector": [
+                0.6307660994820292,
+                -0.2558083733832013,
+                0.461581074862132
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655233073263931,
+                    -0.25726946487383956,
+                    0.039713542438720294
+                ],
+                [
+                    -0.17133402390340619,
+                    -0.5131891211369345,
+                    0.8410003437572237
+                ],
+                [
+                    -0.19598315045577477,
+                    -0.8188097143965926,
+                    -0.5395750701683687
+                ]
+            ],
+            "translation_vector": [
+                0.6307372111556843,
+                -0.2557880345385721,
+                0.46156555022072576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655194966843049,
+                    -0.257287398432168,
+                    0.039690000384148015
+                ],
+                [
+                    -0.17133371804146635,
+                    -0.5132305036544631,
+                    0.8409751525346475
+                ],
+                [
+                    -0.19600219025453294,
+                    -0.8187781413341426,
+                    -0.5396160641500889
+                ]
+            ],
+            "translation_vector": [
+                0.6307317690715997,
+                -0.2558008969307438,
+                0.46155862097770867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655161299779249,
+                    -0.25728691472872434,
+                    0.039774945151751895
+                ],
+                [
+                    -0.17138807999136005,
+                    -0.5131496631156681,
+                    0.8410134061245107
+                ],
+                [
+                    -0.1959712448022053,
+                    -0.8188289606222109,
+                    -0.5395501871531727
+                ]
+            ],
+            "translation_vector": [
+                0.6307474179720595,
+                -0.25579424277208984,
+                0.4615662633321879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655083938019594,
+                    -0.25729980508497174,
+                    0.039879215152707585
+                ],
+                [
+                    -0.1714801353722771,
+                    -0.5131238892983947,
+                    0.8410103670014979
+                ],
+                [
+                    -0.19592882552260116,
+                    -0.8188410618273392,
+                    -0.539547227585139
+                ]
+            ],
+            "translation_vector": [
+                0.6307704043710202,
+                -0.25580017722707826,
+                0.4615757624587285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655238319363029,
+                    -0.2572618459521377,
+                    0.0397501267964833
+                ],
+                [
+                    -0.17136088943285088,
+                    -0.5131865000069276,
+                    0.8409964695427811
+                ],
+                [
+                    -0.1959570757482878,
+                    -0.8188137510007623,
+                    -0.5395784147241636
+                ]
+            ],
+            "translation_vector": [
+                0.630742334206236,
+                -0.25579190009629016,
+                0.46156316935461517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655128993558474,
+                    -0.25728227492769146,
+                    0.03988323188379938
+                ],
+                [
+                    -0.1714707943703729,
+                    -0.5131122765566225,
+                    0.8410193566885801
+                ],
+                [
+                    -0.19591479743872964,
+                    -0.8188538469439536,
+                    -0.539532917892532
+                ]
+            ],
+            "translation_vector": [
+                0.6307731243328996,
+                -0.2557959608903741,
+                0.4615803556621088
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655130645259595,
+                    -0.257285681290841,
+                    0.03985725068790659
+                ],
+                [
+                    -0.17145516108001627,
+                    -0.5131333523518788,
+                    0.8410096851066275
+                ],
+                [
+                    -0.1959276651438396,
+                    -0.8188395697002137,
+                    -0.5395499134690441
+                ]
+            ],
+            "translation_vector": [
+                0.6307674657821503,
+                -0.2557971449741749,
+                0.46157686139401016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965524088565122,
+                    -0.25725612756155203,
+                    0.039780890293267965
+                ],
+                [
+                    -0.171378419562482,
+                    -0.5131614957161771,
+                    0.8410081549085013
+                ],
+                [
+                    -0.1959404800156324,
+                    -0.8188312183511144,
+                    -0.5395579340023396
+                ]
+            ],
+            "translation_vector": [
+                0.630743190969373,
+                -0.25580401981401146,
+                0.4615820600825544
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655167852921519,
+                    -0.25728055209453327,
+                    0.03980018634429732
+                ],
+                [
+                    -0.17141668240852564,
+                    -0.5131925706982172,
+                    0.8409813947836242
+                ],
+                [
+                    -0.19594299760686348,
+                    -0.8188040686843756,
+                    -0.5395982197846367
+                ]
+            ],
+            "translation_vector": [
+                0.6307585552674185,
+                -0.2557873839780364,
+                0.46155565964789225
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655198213272229,
+                    -0.2572680707335537,
+                    0.03980721549270664
+                ],
+                [
+                    -0.17141125761896947,
+                    -0.5131742540004196,
+                    0.8409936776174933
+                ],
+                [
+                    -0.195932782825465,
+                    -0.8188194702204805,
+                    -0.5395785575818606
+                ]
+            ],
+            "translation_vector": [
+                0.6307561598704622,
+                -0.2557940787518284,
+                0.46156839860660764
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655078412355435,
+                    -0.25729267880214807,
+                    0.03993852710723275
+                ],
+                [
+                    -0.17152628414955448,
+                    -0.5131179337717611,
+                    0.841004589694756
+                ],
+                [
+                    -0.19589114926031442,
+                    -0.8188470330144778,
+                    -0.5395518456690328
+                ]
+            ],
+            "translation_vector": [
+                0.6307787815032407,
+                -0.25581723009308766,
+                0.46159261645412203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655136394460355,
+                    -0.2572887859225893,
+                    0.03982326809983402
+                ],
+                [
+                    -0.1714357824522929,
+                    -0.513168622188606,
+                    0.8409921151211931
+                ],
+                [
+                    -0.19594178864816286,
+                    -0.8188164909425847,
+                    -0.5395798083896681
+                ]
+            ],
+            "translation_vector": [
+                0.6307635155166811,
+                -0.2557936530826176,
+                0.46156111606991146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655122504857624,
+                    -0.25729416753098955,
+                    0.0398221736781596
+                ],
+                [
+                    -0.1714267230753898,
+                    -0.5131218409275338,
+                    0.841022505631551
+                ],
+                [
+                    -0.19595655839382362,
+                    -0.8188441168608795,
+                    -0.5395325194135884
+                ]
+            ],
+            "translation_vector": [
+                0.6307568021735492,
+                -0.2557984464021257,
+                0.4615733574870304
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655129443636987,
+                    -0.257297123919145,
+                    0.03978623240616618
+                ],
+                [
+                    -0.17140893622624012,
+                    -0.5131712428728393,
+                    0.8409959881415215
+                ],
+                [
+                    -0.19596869864325292,
+                    -0.8188122284817697,
+                    -0.5395765039739854
+                ]
+            ],
+            "translation_vector": [
+                0.6307584847568957,
+                -0.2557897682441929,
+                0.4615631139958684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655142678405412,
+                    -0.2572787595376085,
+                    0.03987277877366013
+                ],
+                [
+                    -0.1714634222748722,
+                    -0.5131279532883126,
+                    0.8410112950346956
+                ],
+                [
+                    -0.19591450537959823,
+                    -0.8188451278751904,
+                    -0.5395462567166328
+                ]
+            ],
+            "translation_vector": [
+                0.6307690752151368,
+                -0.2557994538793764,
+                0.46158104187653054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655106625434585,
+                    -0.257285969117534,
+                    0.03991353918338294
+                ],
+                [
+                    -0.17149857838840182,
+                    -0.513109201769297,
+                    0.8410155674364371
+                ],
+                [
+                    -0.19590150108064333,
+                    -0.818854612953317,
+                    -0.5395365833003584
+                ]
+            ],
+            "translation_vector": [
+                0.6307690882227399,
+                -0.2558181015507962,
+                0.4615980149744585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655204270909625,
+                    -0.25728209711359085,
+                    0.039701730124994915
+                ],
+                [
+                    -0.1713343696220353,
+                    -0.5132032574666295,
+                    0.8409916469929175
+                ],
+                [
+                    -0.19599703736614213,
+                    -0.818796885088404,
+                    -0.5395894942576457
+                ]
+            ],
+            "translation_vector": [
+                0.6307369849016483,
+                -0.25579035538421685,
+                0.4615575393589052
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655131302187272,
+                    -0.2572812594617132,
+                    0.03988419367406054
+                ],
+                [
+                    -0.17146763557523095,
+                    -0.5130980081657598,
+                    0.8410287057922399
+                ],
+                [
+                    -0.19591642433822418,
+                    -0.8188631067193862,
+                    -0.5395182732108342
+                ]
+            ],
+            "translation_vector": [
+                0.6307731448088149,
+                -0.25579640473256393,
+                0.4615842815315803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655096543288566,
+                    -0.2572999328415012,
+                    0.039847860137412365
+                ],
+                [
+                    -0.17145516120321522,
+                    -0.5131333524463245,
+                    0.8410096850238858
+                ],
+                [
+                    -0.19594446941557522,
+                    -0.8188350915580958,
+                    -0.539550607207974
+                ]
+            ],
+            "translation_vector": [
+                0.6307650191970142,
+                -0.255797145024463,
+                0.4615715753706415
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655008236929085,
+                    -0.2573339634810585,
+                    0.03984207182670526
+                ],
+                [
+                    -0.171475505527538,
+                    -0.5131578110214917,
+                    0.8409906134979784
+                ],
+                [
+                    -0.19597017745664866,
+                    -0.8188090694580515,
+                    -0.5395807607030197
+                ]
+            ],
+            "translation_vector": [
+                0.6307660345993011,
+                -0.25579976464885,
+                0.46155477791043853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655108558105586,
+                    -0.25728700683719763,
+                    0.039902173182906654
+                ],
+                [
+                    -0.17148904135045592,
+                    -0.5131082313692752,
+                    0.8410181042033495
+                ],
+                [
+                    -0.19590889721670243,
+                    -0.8188548949684862,
+                    -0.5395334697472302
+                ]
+            ],
+            "translation_vector": [
+                0.6307753834043288,
+                -0.255803957662029,
+                0.46158148903065443
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655069975119079,
+                    -0.2573074715766099,
+                    0.039863552606271196
+                ],
+                [
+                    -0.17146807548922063,
+                    -0.513112116689402,
+                    0.8410200085577895
+                ],
+                [
+                    -0.19594626009078042,
+                    -0.8188460299576311,
+                    -0.5395333561320029
+                ]
+            ],
+            "translation_vector": [
+                0.6307704059546713,
+                -0.2557987490916147,
+                0.4615714435852343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655145901502779,
+                    -0.25727726048791144,
+                    0.0398746466163182
+                ],
+                [
+                    -0.17145392412618016,
+                    -0.5130850504056846,
+                    0.8410394063014706
+                ],
+                [
+                    -0.19592122934657927,
+                    -0.8188724823109098,
+                    -0.539502298053765
+                ]
+            ],
+            "translation_vector": [
+                0.6307693134933379,
+                -0.2558007884569175,
+                0.46159197388313566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655198183573765,
+                    -0.2572786664377853,
+                    0.039738748786716134
+                ],
+                [
+                    -0.1713640485344627,
+                    -0.5132007677721463,
+                    0.8409871192996704
+                ],
+                [
+                    -0.1959740881571266,
+                    -0.8187995235428965,
+                    -0.5395938259625552
+                ]
+            ],
+            "translation_vector": [
+                0.6307400433554318,
+                -0.25579145659418334,
+                0.4615530090710685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655197494276019,
+                    -0.2572641782989513,
+                    0.03983410635907877
+                ],
+                [
+                    -0.1714205406777639,
+                    -0.5131244961915956,
+                    0.8410221457499587
+                ],
+                [
+                    -0.19592501550083918,
+                    -0.818851875477053,
+                    -0.5395321995291005
+                ]
+            ],
+            "translation_vector": [
+                0.6307620364824535,
+                -0.2557937863114297,
+                0.46157891239536303
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655186381571977,
+                    -0.25727231277236917,
+                    0.039808497231457005
+                ],
+                [
+                    -0.17140456256896028,
+                    -0.5131314346465959,
+                    0.8410211690011554
+                ],
+                [
+                    -0.19594446994394618,
+                    -0.8188449718098555,
+                    -0.5395356122074829
+                ]
+            ],
+            "translation_vector": [
+                0.6307545107648045,
+                -0.2557926500832506,
+                0.4615762459764943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655099916367605,
+                    -0.25730509998402185,
+                    0.03980630065448152
+                ],
+                [
+                    -0.17142911391378654,
+                    -0.5131633848040916,
+                    0.840996670266382
+                ],
+                [
+                    -0.19596559634873778,
+                    -0.8188146469248216,
+                    -0.5395739606662494
+                ]
+            ],
+            "translation_vector": [
+                0.6307520699733785,
+                -0.2558085385177115,
+                0.46156774320261373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655108080768459,
+                    -0.2572930672245041,
+                    0.03986423265288007
+                ],
+                [
+                    -0.17145392425074446,
+                    -0.5130850505058465,
+                    0.8410394062149723
+                ],
+                [
+                    -0.19593986665764607,
+                    -0.8188675158446693,
+                    -0.539503067784201
+                ]
+            ],
+            "translation_vector": [
+                0.6307670438995747,
+                -0.25580078850655436,
+                0.4615856627400774
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655157749091556,
+                    -0.25727502225143517,
+                    0.03986039797965421
+                ],
+                [
+                    -0.1714627391326737,
+                    -0.5131791367952082,
+                    0.8409802034811793
+                ],
+                [
+                    -0.19590767593612432,
+                    -0.8188142258679002,
+                    -0.5395956319556875
+                ]
+            ],
+            "translation_vector": [
+                0.6307665887775639,
+                -0.25579563473623385,
+                0.4615643047003912
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655017159560632,
+                    -0.25733560754102025,
+                    0.039809817600576725
+                ],
+                [
+                    -0.1714414055573662,
+                    -0.5131287801938639,
+                    0.84101527893212
+                ],
+                [
+                    -0.19599561461015347,
+                    -0.8188267460386545,
+                    -0.5395446960404084
+                ]
+            ],
+            "translation_vector": [
+                0.6307663687573813,
+                -0.2557997295228583,
+                0.4615728270878572
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655096317901488,
+                    -0.2573025504599199,
+                    0.0398315006906852
+                ],
+                [
+                    -0.17144865987756663,
+                    -0.513159453492712,
+                    0.8409950845975546
+                ],
+                [
+                    -0.19595026906498036,
+                    -0.8188179118814402,
+                    -0.5395745724508154
+                ]
+            ],
+            "translation_vector": [
+                0.630756320191608,
+                -0.25580647833264764,
+                0.4615704265950217
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654989005795827,
+                    -0.2573410602721196,
+                    0.03984283721872993
+                ],
+                [
+                    -0.17146861032998248,
+                    -0.5131091971692161,
+                    0.8410216807264048
+                ],
+                [
+                    -0.19598568481172682,
+                    -0.818837304034436,
+                    -0.5395322797298552
+                ]
+            ],
+            "translation_vector": [
+                0.6307665845529851,
+                -0.25580895677251825,
+                0.4615663860590528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655214287283107,
+                    -0.2572639935666188,
+                    0.039794576019808584
+                ],
+                [
+                    -0.17139645484933252,
+                    -0.5131681809485451,
+                    0.8410004003132472
+                ],
+                [
+                    -0.19593781138800734,
+                    -0.8188245573235552,
+                    -0.5395690117050476
+                ]
+            ],
+            "translation_vector": [
+                0.6307554681108379,
+                -0.25578478530438303,
+                0.4615653079271079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655170915858249,
+                    -0.25726671968222237,
+                    0.03988208619918294
+                ],
+                [
+                    -0.17145165101205614,
+                    -0.5130737469733174,
+                    0.8410467653656368
+                ],
+                [
+                    -0.19591089102163342,
+                    -0.8188828763081503,
+                    -0.5394902757866916
+                ]
+            ],
+            "translation_vector": [
+                0.6307664546327151,
+                -0.25579829338129,
+                0.46159285899080316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655277515459147,
+                    -0.2572525757376913,
+                    0.03971489986156088
+                ],
+                [
+                    -0.1713336774157343,
+                    -0.5132232380864539,
+                    0.8409795948007633
+                ],
+                [
+                    -0.1959615573981068,
+                    -0.818793637105454,
+                    -0.539607308936536
+                ]
+            ],
+            "translation_vector": [
+                0.6307349804772332,
+                -0.2557895610529999,
+                0.4615538677738185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655270714264497,
+                    -0.2572225243398917,
+                    0.03992552209899819
+                ],
+                [
+                    -0.17146038554168813,
+                    -0.5130581132432259,
+                    0.841054521791065
+                ],
+                [
+                    -0.1958540541642154,
+                    -0.8189065547469473,
+                    -0.5394749707446356
+                ]
+            ],
+            "translation_vector": [
+                0.6307801373340474,
+                -0.2557847533751127,
+                0.4616081779342827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655346190485885,
+                    -0.2572130960309925,
+                    0.03980355070654495
+                ],
+                [
+                    -0.17137137584532547,
+                    -0.5131527854350438,
+                    0.8410149049458852
+                ],
+                [
+                    -0.19589474459407336,
+                    -0.8188501951092199,
+                    -0.5395457413510142
+                ]
+            ],
+            "translation_vector": [
+                0.6307481378074974,
+                -0.25578679352448114,
+                0.4615871050272492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655225909315694,
+                    -0.257266635971068,
+                    0.03974926938849964
+                ],
+                [
+                    -0.17137154196420828,
+                    -0.5132226434695772,
+                    0.8409722426066802
+                ],
+                [
+                    -0.19595387468891523,
+                    -0.8187895921701921,
+                    -0.5396162365498017
+                ]
+            ],
+            "translation_vector": [
+                0.6307392999742313,
+                -0.25580430157608813,
+                0.4615611844769764
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655142913311225,
+                    -0.25727534297443233,
+                    0.03989424936941238
+                ],
+                [
+                    -0.17147551572403935,
+                    -0.5131085269047241,
+                    0.8410206817461977
+                ],
+                [
+                    -0.19590380481893502,
+                    -0.8188583745160409,
+                    -0.5395300378499907
+                ]
+            ],
+            "translation_vector": [
+                0.6307693224927627,
+                -0.2558064995027387,
+                0.46159547842417187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655090412856371,
+                    -0.2573045138038047,
+                    0.039833131585127246
+                ],
+                [
+                    -0.17145147264861915,
+                    -0.5131605619669194,
+                    0.8409938347981009
+                ],
+                [
+                    -0.19595071758559643,
+                    -0.8188166002335221,
+                    -0.5395764000210783
+                ]
+            ],
+            "translation_vector": [
+                0.6307663680969557,
+                -0.25579311514620656,
+                0.46156993379977446
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655167207792226,
+                    -0.25726466502811085,
+                    0.0399043108411977
+                ],
+                [
+                    -0.171476800148266,
+                    -0.5131028777922247,
+                    0.8410238663749378
+                ],
+                [
+                    -0.19589070653466092,
+                    -0.8188652690945634,
+                    -0.539524329538567
+                ]
+            ],
+            "translation_vector": [
+                0.6307724053093685,
+                -0.2558045195343177,
+                0.46159286150675444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655269905674094,
+                    -0.2572444260332248,
+                    0.03978612522825889
+                ],
+                [
+                    -0.17137102153643202,
+                    -0.5131395894237989,
+                    0.8410230286642186
+                ],
+                [
+                    -0.1959326503250587,
+                    -0.8188486227873941,
+                    -0.5395343635912233
+                ]
+            ],
+            "translation_vector": [
+                0.6307493799397925,
+                -0.2557911991203917,
+                0.4615815184950587
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655054267414954,
+                    -0.25731599199826105,
+                    0.039846595772712226
+                ],
+                [
+                    -0.17146359895019347,
+                    -0.513134696836865,
+                    0.841007144522082
+                ],
+                [
+                    -0.19595791682851263,
+                    -0.8188292026815421,
+                    -0.5395546605008061
+                ]
+            ],
+            "translation_vector": [
+                0.6307674475698988,
+                -0.25579555542890553,
+                0.46156597111257996
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965518468893927,
+                    -0.2572577470681528,
+                    0.039906613463751024
+                ],
+                [
+                    -0.17148483670340933,
+                    -0.5131446865469894,
+                    0.8409967190479384
+                ],
+                [
+                    -0.19587505457697252,
+                    -0.8188412436131991,
+                    -0.5395664748225725
+                ]
+            ],
+            "translation_vector": [
+                0.6307687067018509,
+                -0.25580906359491906,
+                0.46159203536354126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655210503230426,
+                    -0.2572577300361446,
+                    0.03984421814691336
+                ],
+                [
+                    -0.1714316014532524,
+                    -0.5131493806645246,
+                    0.8410047081597034
+                ],
+                [
+                    -0.19590892630572476,
+                    -0.8188383072745588,
+                    -0.5395586336381554
+                ]
+            ],
+            "translation_vector": [
+                0.6307580169394411,
+                -0.2558034343269683,
+                0.4615871051306236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655196211719019,
+                    -0.25725629792733506,
+                    0.03988807226213283
+                ],
+                [
+                    -0.17146114811825766,
+                    -0.5131166504536252,
+                    0.8410186547950175
+                ],
+                [
+                    -0.19589011158819578,
+                    -0.8188592676424773,
+                    -0.5395336541662529
+                ]
+            ],
+            "translation_vector": [
+                0.6307689277486321,
+                -0.25579695854585305,
+                0.46158586614944114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655157971631535,
+                    -0.2572799129893987,
+                    0.039828278905412295
+                ],
+                [
+                    -0.17142795218884854,
+                    -0.5131389428009879,
+                    0.841011820719199
+                ],
+                [
+                    -0.1959380071265851,
+                    -0.818837878797294,
+                    -0.5395487240370515
+                ]
+            ],
+            "translation_vector": [
+                0.6307557897126167,
+                -0.2557978278585863,
+                0.46156964176556714
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655235523734125,
+                    -0.2572446708674676,
+                    0.039867895887724124
+                ],
+                [
+                    -0.17143509441943214,
+                    -0.5131091010580213,
+                    0.8410285719360727
+                ],
+                [
+                    -0.19589353795780648,
+                    -0.8188676509190711,
+                    -0.5395196864477291
+                ]
+            ],
+            "translation_vector": [
+                0.6307652487677549,
+                -0.25579201918535704,
+                0.46158611538164823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965515358584812,
+                    -0.2572749317754876,
+                    0.03987106490627838
+                ],
+                [
+                    -0.17147154573455933,
+                    -0.5131773289567164,
+                    0.8409795110751815
+                ],
+                [
+                    -0.1959020197451862,
+                    -0.818815387327796,
+                    -0.5395959230155362
+                ]
+            ],
+            "translation_vector": [
+                0.6307617705118772,
+                -0.2558102080523092,
+                0.46157713710334686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655174095687115,
+                    -0.2572729969947656,
+                    0.039833865454622794
+                ],
+                [
+                    -0.17143476041804373,
+                    -0.5131636486619571,
+                    0.8409953582585078
+                ],
+                [
+                    -0.19592410454084913,
+                    -0.8188245689458026,
+                    -0.5395739713427508
+                ]
+            ],
+            "translation_vector": [
+                0.6307555500260842,
+                -0.25580299073167595,
+                0.4615778933702815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655173119052921,
+                    -0.25726673471109035,
+                    0.03987665510386912
+                ],
+                [
+                    -0.1714537367126149,
+                    -0.5131022033194045,
+                    0.8410289799501882
+                ],
+                [
+                    -0.19590797987438074,
+                    -0.8188650414811138,
+                    -0.5395184030797033
+                ]
+            ],
+            "translation_vector": [
+                0.6307700162984409,
+                -0.2557929171824624,
+                0.46158598825835934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655114713647531,
+                    -0.2572964418364604,
+                    0.039826369171265884
+                ],
+                [
+                    -0.17143374112254867,
+                    -0.5131304415204053,
+                    0.8410158276690163
+                ],
+                [
+                    -0.19595425759037724,
+                    -0.8188380126761157,
+                    -0.5395426191959567
+                ]
+            ],
+            "translation_vector": [
+                0.6307635700247496,
+                -0.2557983520686532,
+                0.46158028631996934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655098545288432,
+                    -0.25730353649354737,
+                    0.03981973023020199
+                ],
+                [
+                    -0.1714386209505888,
+                    -0.5131579810894316,
+                    0.8409980295403666
+                ],
+                [
+                    -0.19595795481238484,
+                    -0.8188185247978533,
+                    -0.5395708511341352
+                ]
+            ],
+            "translation_vector": [
+                0.6307575337118104,
+                -0.2558033402796098,
+                0.46157770191058384
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655150844579081,
+                    -0.2572782483285045,
+                    0.039856299643285714
+                ],
+                [
+                    -0.1714463645683425,
+                    -0.5131178803478703,
+                    0.8410209182556686
+                ],
+                [
+                    -0.19592540866497635,
+                    -0.8188516005994769,
+                    -0.53953247393937
+                ]
+            ],
+            "translation_vector": [
+                0.6307636091362957,
+                -0.2557964101558708,
+                0.4615809140071278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655096170292496,
+                    -0.25730618164264135,
+                    0.03980839500049204
+                ],
+                [
+                    -0.17143183143106058,
+                    -0.5131645229956543,
+                    0.8409954218132432
+                ],
+                [
+                    -0.195965064734058,
+                    -0.8188135936995223,
+                    -0.539575752028063
+                ]
+            ],
+            "translation_vector": [
+                0.6307620076142613,
+                -0.25579515134943026,
+                0.46156773936803774
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655199616655337,
+                    -0.25725916343480965,
+                    0.039861340346363704
+                ],
+                [
+                    -0.1714370236049445,
+                    -0.5131062672741968,
+                    0.8410299075665612
+                ],
+                [
+                    -0.19590954689055973,
+                    -0.8188648736591178,
+                    -0.5395180887832892
+                ]
+            ],
+            "translation_vector": [
+                0.6307661522537512,
+                -0.25579219396312425,
+                0.4615865322388785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655176532159644,
+                    -0.25726785314928025,
+                    0.03986117238990127
+                ],
+                [
+                    -0.17144641859351464,
+                    -0.5131253020795907,
+                    0.8410163791016119
+                ],
+                [
+                    -0.1959127021910383,
+                    -0.8188502159135632,
+                    -0.5395391895113056
+                ]
+            ],
+            "translation_vector": [
+                0.6307625380911714,
+                -0.25580262428306966,
+                0.4615826872456726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655208701368929,
+                    -0.2572665335407405,
+                    0.039791708307494185
+                ],
+                [
+                    -0.17139100830938822,
+                    -0.5131497664090856,
+                    0.8410127463391934
+                ],
+                [
+                    -0.19594532809125328,
+                    -0.8188352996508103,
+                    -0.5395499795616521
+                ]
+            ],
+            "translation_vector": [
+                0.6307507144596612,
+                -0.2557914833127675,
+                0.461572313497682
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655270276393545,
+                    -0.2572343024600903,
+                    0.039850627796608605
+                ],
+                [
+                    -0.17142162981377457,
+                    -0.513140566945631,
+                    0.8410121184541313
+                ],
+                [
+                    -0.19588819191034015,
+                    -0.8188511905056908,
+                    -0.5395466097359064
+                ]
+            ],
+            "translation_vector": [
+                0.630759579204397,
+                -0.2557889674835058,
+                0.4615867273331381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655082078169644,
+                    -0.2573005823660657,
+                    0.039878702989900545
+                ],
+                [
+                    -0.17148013537296014,
+                    -0.5131238893012499,
+                    0.8410103669996166
+                ],
+                [
+                    -0.19592974202643273,
+                    -0.8188408175844938,
+                    -0.5395472654429947
+                ]
+            ],
+            "translation_vector": [
+                0.6307704927225457,
+                -0.25580017722675374,
+                0.4615753643487061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655150396081926,
+                    -0.25727848630459915,
+                    0.03985584994959784
+                ],
+                [
+                    -0.1714495233798957,
+                    -0.5131321485801507,
+                    0.8410115689015967
+                ],
+                [
+                    -0.19592286549353355,
+                    -0.8188425847367323,
+                    -0.5395470806134255
+                ]
+            ],
+            "translation_vector": [
+                0.630763500265336,
+                -0.25579596638099855,
+                0.46157753881450264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655104858969012,
+                    -0.25729456574618165,
+                    0.0398623639616835
+                ],
+                [
+                    -0.17146342239943588,
+                    -0.5131279533884704,
+                    0.8410112949481907
+                ],
+                [
+                    -0.19593314268444353,
+                    -0.8188401613800119,
+                    -0.5395470264110015
+                ]
+            ],
+            "translation_vector": [
+                0.6307668054053476,
+                -0.2557994539290148,
+                0.46157480702429854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655142528269751,
+                    -0.2572836156591729,
+                    0.0398417959097126
+                ],
+                [
+                    -0.17143810330095918,
+                    -0.5131232792959456,
+                    0.841019308328379
+                ],
+                [
+                    -0.19593673551567056,
+                    -0.8188465310165994,
+                    -0.5395360546965737
+                ]
+            ],
+            "translation_vector": [
+                0.6307618229752759,
+                -0.2557941012586299,
+                0.4615776823818773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655349152972382,
+                    -0.2572107645955324,
+                    0.03981142949125112
+                ],
+                [
+                    -0.17137789753264782,
+                    -0.5131569533994782,
+                    0.8410110328735617
+                ],
+                [
+                    -0.19588757893047856,
+                    -0.818848315473597,
+                    -0.539551195593901
+                ]
+            ],
+            "translation_vector": [
+                0.6307492238719035,
+                -0.25578503297705385,
+                0.4615835397407586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655294355534371,
+                    -0.25722044680093586,
+                    0.039881710437098386
+                ],
+                [
+                    -0.17143816695526792,
+                    -0.5131297605299744,
+                    0.8410153409834266
+                ],
+                [
+                    -0.1958618492480843,
+                    -0.818862314803886,
+                    -0.5395392899531439
+                ]
+            ],
+            "translation_vector": [
+                0.6307628006013004,
+                -0.25579358919993256,
+                0.46159501898836464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655154344497198,
+                    -0.2572801923351737,
+                    0.039835266678474354
+                ],
+                [
+                    -0.17144039882077908,
+                    -0.513164851964886,
+                    0.8409934746239289
+                ],
+                [
+                    -0.1959289041758293,
+                    -0.8188215540273919,
+                    -0.5395768037718319
+                ]
+            ],
+            "translation_vector": [
+                0.6307595155085385,
+                -0.2558041695131016,
+                0.46157729230181554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655188614554525,
+                    -0.25726297853102925,
+                    0.0398633672826295
+                ],
+                [
+                    -0.1714444351322657,
+                    -0.5131207142753237,
+                    0.841019582556649
+                ],
+                [
+                    -0.19590848331796393,
+                    -0.818854622298076,
+                    -0.5395340338710156
+                ]
+            ],
+            "translation_vector": [
+                0.6307626172921964,
+                -0.2557962353699239,
+                0.46158104785914866
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655150396081926,
+                    -0.25727848630459915,
+                    0.03985584994959784
+                ],
+                [
+                    -0.1714495233798957,
+                    -0.5131321485801507,
+                    0.8410115689015967
+                ],
+                [
+                    -0.19592286549353355,
+                    -0.8188425847367323,
+                    -0.5395470806134255
+                ]
+            ],
+            "translation_vector": [
+                0.630763500265336,
+                -0.25579596638099855,
+                0.46157746252055726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655150396081926,
+                    -0.25727848630459915,
+                    0.03985584994959784
+                ],
+                [
+                    -0.1714495233798957,
+                    -0.5131321485801507,
+                    0.8410115689015967
+                ],
+                [
+                    -0.19592286549353355,
+                    -0.8188425847367323,
+                    -0.5395470806134255
+                ]
+            ],
+            "translation_vector": [
+                0.630763500265336,
+                -0.25579596638099855,
+                0.46157753881450264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655162185337288,
+                    -0.2572773812531619,
+                    0.03983441782987019
+                ],
+                [
+                    -0.17143531002132456,
+                    -0.5131534179680253,
+                    0.841001488765404
+                ],
+                [
+                    -0.19592949299740905,
+                    -0.8188296029841917,
+                    -0.539564375260756
+                ]
+            ],
+            "translation_vector": [
+                0.630756009345924,
+                -0.2558044384229714,
+                0.461576616897292
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655146428958766,
+                    -0.25728606036329277,
+                    0.039816548021946827
+                ],
+                [
+                    -0.17141846173278935,
+                    -0.5131272397884922,
+                    0.8410208955574214
+                ],
+                [
+                    -0.19595199751676967,
+                    -0.818843281055526,
+                    -0.5395354443772982
+                ]
+            ],
+            "translation_vector": [
+                0.6307575509018758,
+                -0.2557961375028859,
+                0.4615750136981474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655131861500305,
+                    -0.25728822559071324,
+                    0.03983787573151042
+                ],
+                [
+                    -0.17144761209586482,
+                    -0.5131662300393319,
+                    0.8409911632436131
+                ],
+                [
+                    -0.19593367162650438,
+                    -0.8188181662125004,
+                    -0.5395802136877847
+                ]
+            ],
+            "translation_vector": [
+                0.6307619377191449,
+                -0.25579276562308667,
+                0.4615649155765482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655178264332698,
+                    -0.25727120429037753,
+                    0.0398353396189065
+                ],
+                [
+                    -0.17143160157576626,
+                    -0.5131493807561183,
+                    0.8410047080788434
+                ],
+                [
+                    -0.19592481420366986,
+                    -0.8188340738346148,
+                    -0.5395592893340511
+                ]
+            ],
+            "translation_vector": [
+                0.6307554821845852,
+                -0.2558034343775782,
+                0.46158229367309034
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655150396081926,
+                    -0.25727848630459915,
+                    0.03985584994959784
+                ],
+                [
+                    -0.1714495233798957,
+                    -0.5131321485801507,
+                    0.8410115689015967
+                ],
+                [
+                    -0.19592286549353355,
+                    -0.8188425847367323,
+                    -0.5395470806134255
+                ]
+            ],
+            "translation_vector": [
+                0.630763500265336,
+                -0.25579596638099855,
+                0.46157746252055726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655150396081926,
+                    -0.25727848630459915,
+                    0.03985584994959784
+                ],
+                [
+                    -0.1714495233798957,
+                    -0.5131321485801507,
+                    0.8410115689015967
+                ],
+                [
+                    -0.19592286549353355,
+                    -0.8188425847367323,
+                    -0.5395470806134255
+                ]
+            ],
+            "translation_vector": [
+                0.630763500265336,
+                -0.25579596638099855,
+                0.46157746252055726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965512428369842,
+                    -0.2572953912287307,
+                    0.03980995247203095
+                ],
+                [
+                    -0.17141984228669369,
+                    -0.5131346370507983,
+                    0.8410161008739074
+                ],
+                [
+                    -0.19596170119126846,
+                    -0.8188357136270987,
+                    -0.5395434048851159
+                ]
+            ],
+            "translation_vector": [
+                0.6307579067002297,
+                -0.2557948646519206,
+                0.46157718140976434
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655152704387898,
+                    -0.25727747103717424,
+                    0.03985681179205218
+                ],
+                [
+                    -0.17144636456765933,
+                    -0.5131178803450152,
+                    0.8410209182575499
+                ],
+                [
+                    -0.19592449215461646,
+                    -0.818851844821122,
+                    -0.5395324361027806
+                ]
+            ],
+            "translation_vector": [
+                0.6307635207794298,
+                -0.2557964101561954,
+                0.46158146469850697
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655231642161122,
+                    -0.2572469308745738,
+                    0.03986271337626882
+                ],
+                [
+                    -0.17143268546916646,
+                    -0.5131124797812673,
+                    0.8410270016150185
+                ],
+                [
+                    -0.19589755923680166,
+                    -0.8188648237947035,
+                    -0.5395225172657143
+                ]
+            ],
+            "translation_vector": [
+                0.630764969341269,
+                -0.25578972276374723,
+                0.4615945329482977
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655099222107875,
+                    -0.2573006806960162,
+                    0.039836538829144716
+                ],
+                [
+                    -0.1714419620811309,
+                    -0.5131176115191615,
+                    0.8410219797286176
+                ],
+                [
+                    -0.1959546982092833,
+                    -0.8188447206047298,
+                    -0.5395322787261861
+                ]
+            ],
+            "translation_vector": [
+                0.6307663414968471,
+                -0.2557944507689287,
+                0.4615822262046418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655187793609985,
+                    -0.2572717732013425,
+                    0.039808559570583005
+                ],
+                [
+                    -0.17140772146125338,
+                    -0.5131457028337417,
+                    0.8410118195880049
+                ],
+                [
+                    -0.19594101082904794,
+                    -0.8188361999674308,
+                    -0.5395501810751143
+                ]
+            ],
+            "translation_vector": [
+                0.6307543134848157,
+                -0.25579220632541905,
+                0.46157326885406436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655247501310253,
+                    -0.2572403192277493,
+                    0.03986696687769083
+                ],
+                [
+                    -0.17143834289057686,
+                    -0.5131365031555271,
+                    0.8410111911956053
+                ],
+                [
+                    -0.19588479132223163,
+                    -0.8188518469741177,
+                    -0.5395468480453965
+                ]
+            ],
+            "translation_vector": [
+                0.6307632665415949,
+                -0.2557896906165026,
+                0.46158713223866615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655204722490675,
+                    -0.2572664617695292,
+                    0.03980182554262302
+                ],
+                [
+                    -0.17139329213552643,
+                    -0.5131226549419434,
+                    0.8410288225716628
+                ],
+                [
+                    -0.19594529103523808,
+                    -0.8188523118572231,
+                    -0.5395241739599785
+                ]
+            ],
+            "translation_vector": [
+                0.6307511690120473,
+                -0.255788259247568,
+                0.46157135005122973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655094683290119,
+                    -0.25730071011692823,
+                    0.03984734797139731
+                ],
+                [
+                    -0.17145516120389848,
+                    -0.5131333524491797,
+                    0.8410096850220046
+                ],
+                [
+                    -0.19594538592060382,
+                    -0.818834847315129,
+                    -0.5395506450360663
+                ]
+            ],
+            "translation_vector": [
+                0.630765107544565,
+                -0.2557971450241384,
+                0.4615711009717855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655164807811515,
+                    -0.2572773016019535,
+                    0.03982857542516815
+                ],
+                [
+                    -0.17142233008563598,
+                    -0.513120631718404,
+                    0.841024138805134
+                ],
+                [
+                    -0.1959395572312853,
+                    -0.8188501739545053,
+                    -0.5395295010717064
+                ]
+            ],
+            "translation_vector": [
+                0.6307590485858583,
+                -0.2557897608251893,
+                0.4615854977212752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965516614438051,
+                    -0.25726980725692744,
+                    0.03987371964173391
+                ],
+                [
+                    -0.17146637057909725,
+                    -0.513158327324368,
+                    0.8409921609968125
+                ],
+                [
+                    -0.1959003598886839,
+                    -0.8188289060430393,
+                    -0.5395760109788461
+                ]
+            ],
+            "translation_vector": [
+                0.6307619587129887,
+                -0.2558042672669142,
+                0.4615789893902813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655260102710918,
+                    -0.25724044689334974,
+                    0.03983561185795191
+                ],
+                [
+                    -0.17141336839276758,
+                    -0.5131459656024288,
+                    0.841010508330423
+                ],
+                [
+                    -0.19590043549270894,
+                    -0.8188458771148944,
+                    -0.5395502283436697
+                ]
+            ],
+            "translation_vector": [
+                0.6307578814012544,
+                -0.25578665864452205,
+                0.46158294505145564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655094683290119,
+                    -0.25730071011692823,
+                    0.03984734797139731
+                ],
+                [
+                    -0.17145516120389848,
+                    -0.5131333524491797,
+                    0.8410096850220046
+                ],
+                [
+                    -0.19594538592060382,
+                    -0.818834847315129,
+                    -0.5395506450360663
+                ]
+            ],
+            "translation_vector": [
+                0.630765107544565,
+                -0.2557971450241384,
+                0.4615711009717855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655114713647531,
+                    -0.2572964418364604,
+                    0.039826369171265884
+                ],
+                [
+                    -0.17143374112254867,
+                    -0.5131304415204053,
+                    0.8410158276690163
+                ],
+                [
+                    -0.19595425759037724,
+                    -0.8188380126761157,
+                    -0.5395426191959567
+                ]
+            ],
+            "translation_vector": [
+                0.6307635700247496,
+                -0.2557983520686532,
+                0.46158028631996934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655166333996562,
+                    -0.25728330784665043,
+                    0.03978605449249998
+                ],
+                [
+                    -0.17140121944835138,
+                    -0.5131727823939676,
+                    0.8409966215043032
+                ],
+                [
+                    -0.19595727238409028,
+                    -0.8188156049523726,
+                    -0.5395755299179793
+                ]
+            ],
+            "translation_vector": [
+                0.6307549267732799,
+                -0.25579094086553816,
+                0.4615703118162399
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655224120857773,
+                    -0.2572481874842175,
+                    0.039872820268293356
+                ],
+                [
+                    -0.17144759352540437,
+                    -0.5131349824589213,
+                    0.8410102332618968
+                ],
+                [
+                    -0.19588821923334349,
+                    -0.8188503280899186,
+                    -0.5395479086722718
+                ]
+            ],
+            "translation_vector": [
+                0.6307648665396235,
+                -0.2557957915430138,
+                0.46158335674450873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655284947848306,
+                    -0.2572294692687049,
+                    0.039846278349175514
+                ],
+                [
+                    -0.1714122892495151,
+                    -0.5131289538558053,
+                    0.841021107826128
+                ],
+                [
+                    -0.19588913408553338,
+                    -0.8188599861115375,
+                    -0.5395329186366968
+                ]
+            ],
+            "translation_vector": [
+                0.6307596758573177,
+                -0.2557847513897296,
+                0.4615869070940882
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965517844039726,
+                    -0.25726912316191286,
+                    0.03984835138848024
+                ],
+                [
+                    -0.1714361737683027,
+                    -0.5131261130953185,
+                    0.8410179726874893
+                ],
+                [
+                    -0.1959207267354926,
+                    -0.8188493086809019,
+                    -0.5395376525398811
+                ]
+            ],
+            "translation_vector": [
+                0.6307609194846834,
+                -0.2557939264810925,
+                0.461577265556713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655151621440222,
+                    -0.2572811145991102,
+                    0.039835910189704934
+                ],
+                [
+                    -0.17142876225744863,
+                    -0.5131116664594958,
+                    0.8410282975108735
+                ],
+                [
+                    -0.19594042753061927,
+                    -0.8188545938161419,
+                    -0.5395224768675717
+                ]
+            ],
+            "translation_vector": [
+                0.6307621847267041,
+                -0.2557898850578014,
+                0.46157651516568854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655136369514307,
+                    -0.2572877307026218,
+                    0.03983014550207786
+                ],
+                [
+                    -0.17143862082602168,
+                    -0.513157980989278,
+                    0.8409980296268712
+                ],
+                [
+                    -0.19593931751971846,
+                    -0.8188234914662034,
+                    -0.5395700822627252
+                ]
+            ],
+            "translation_vector": [
+                0.6307598034639555,
+                -0.25580334022997264,
+                0.46158386028603726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655130233818173,
+                    -0.25728429975043776,
+                    0.039867164208524264
+                ],
+                [
+                    -0.17146830081135048,
+                    -0.5131554930509701,
+                    0.8409934968645619
+                ],
+                [
+                    -0.19591636862950157,
+                    -0.8188261287071529,
+                    -0.5395744132642748
+                ]
+            ],
+            "translation_vector": [
+                0.6307628621999147,
+                -0.25580444207235664,
+                0.46157932994334716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655152255866598,
+                    -0.2572777090218276,
+                    0.03985636211222948
+                ],
+                [
+                    -0.17144952337921268,
+                    -0.5131321485772955,
+                    0.8410115689034777
+                ],
+                [
+                    -0.1959219489832167,
+                    -0.8188428289586032,
+                    -0.5395470427772631
+                ]
+            ],
+            "translation_vector": [
+                0.6307634119117465,
+                -0.2557959663813231,
+                0.4615779369178875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655204001265024,
+                    -0.2572630590906621,
+                    0.03982556172702736
+                ],
+                [
+                    -0.17141282386060977,
+                    -0.5131260358140991,
+                    0.8410227792312401
+                ],
+                [
+                    -0.1959285603369002,
+                    -0.8188512623163149,
+                    -0.5395318428483044
+                ]
+            ],
+            "translation_vector": [
+                0.6307558551666752,
+                -0.2557949589115874,
+                0.46158184945977854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965525523493841,
+                    -0.2572380094735777,
+                    0.03986314041839483
+                ],
+                [
+                    -0.17143886971018046,
+                    -0.5131581798812893,
+                    0.8409978575320027
+                ],
+                [
+                    -0.19588051826162012,
+                    -0.8188389883872131,
+                    -0.5395679138556752
+                ]
+            ],
+            "translation_vector": [
+                0.630761461664278,
+                -0.2557982447933392,
+                0.46158368515677567
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655150439160692,
+                    -0.25727774743634485,
+                    0.03986051487163029
+                ],
+                [
+                    -0.17146003983183036,
+                    -0.5131608916188206,
+                    0.8409918870321191
+                ],
+                [
+                    -0.19591364095595354,
+                    -0.8188248042084815,
+                    -0.5395774136306342
+                ]
+            ],
+            "translation_vector": [
+                0.6307637876014299,
+                -0.25580213325383816,
+                0.46157996100704685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655048592844214,
+                    -0.25731903884996254,
+                    0.03984066946603295
+                ],
+                [
+                    -0.1714653716081713,
+                    -0.5131563664450332,
+                    0.8409935611621548
+                ],
+                [
+                    -0.19595916165732574,
+                    -0.8188146651240822,
+                    -0.5395762699936828
+                ]
+            ],
+            "translation_vector": [
+                0.6307694965082816,
+                -0.2557966026965387,
+                0.46156822710855294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655187793609985,
+                    -0.2572717732013425,
+                    0.039808559570583005
+                ],
+                [
+                    -0.17140772146125338,
+                    -0.5131457028337417,
+                    0.8410118195880049
+                ],
+                [
+                    -0.19594101082904794,
+                    -0.8188361999674308,
+                    -0.5395501810751143
+                ]
+            ],
+            "translation_vector": [
+                0.6307543134848157,
+                -0.25579220632541905,
+                0.4615731925601191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655178223721834,
+                    -0.2572728239487323,
+                    0.03982497632292461
+                ],
+                [
+                    -0.171421620500817,
+                    -0.5131415078773941,
+                    0.8410115462454653
+                ],
+                [
+                    -0.1959335670745337,
+                    -0.8188384986984668,
+                    -0.5395493956466733
+                ]
+            ],
+            "translation_vector": [
+                0.6307599768863617,
+                -0.2557956936916054,
+                0.4615764499817684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655190474202681,
+                    -0.2572622012368309,
+                    0.03986387943287646
+                ],
+                [
+                    -0.1714444351315826,
+                    -0.5131207142724686,
+                    0.8410195825585302
+                ],
+                [
+                    -0.19590756680401886,
+                    -0.8188548665052264,
+                    -0.5395339960277173
+                ]
+            ],
+            "translation_vector": [
+                0.6307625289352035,
+                -0.25579623537024854,
+                0.4615815985495863
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655095868856102,
+                    -0.2572970002187452,
+                    0.0398684249803487
+                ],
+                [
+                    -0.17147359415417793,
+                    -0.513142559810705,
+                    0.8410003090479607
+                ],
+                [
+                    -0.19592867105104061,
+                    -0.8188302430842137,
+                    -0.5395637023288548
+                ]
+            ],
+            "translation_vector": [
+                0.6307650489634349,
+                -0.25580330019435604,
+                0.4615790819818427
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655197308252651,
+                    -0.2572601787810217,
+                    0.039860378832428774
+                ],
+                [
+                    -0.1714401824449902,
+                    -0.5131205356657336,
+                    0.8410205584415517
+                ],
+                [
+                    -0.1959079202848533,
+                    -0.8188556138243589,
+                    -0.539532733462944
+                ]
+            ],
+            "translation_vector": [
+                0.6307661318088761,
+                -0.2557917501245003,
+                0.46158253006773803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655145980769406,
+                    -0.2572862982061125,
+                    0.039816097946934935
+                ],
+                [
+                    -0.17142162062333396,
+                    -0.513141507968986,
+                    0.8410115461646085
+                ],
+                [
+                    -0.19594945491936014,
+                    -0.818834265010149,
+                    -0.5395500510259408
+                ]
+            ],
+            "translation_vector": [
+                0.6307574419484391,
+                -0.25579569374221733,
+                0.4615715621903185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655195233385461,
+                    -0.2572686640931075,
+                    0.0398106082326668
+                ],
+                [
+                    -0.1714077214585207,
+                    -0.5131457028223211,
+                    0.8410118195955301
+                ],
+                [
+                    -0.1959373447725197,
+                    -0.8188371768249987,
+                    -0.5395500299071077
+                ]
+            ],
+            "translation_vector": [
+                0.6307539600836789,
+                -0.2557922063267172,
+                0.4615751664080004
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655195651913331,
+                    -0.2572595708979163,
+                    0.0398683134100106
+                ],
+                [
+                    -0.17144952325260102,
+                    -0.5131321484685707,
+                    0.8410115689956259
+                ],
+                [
+                    -0.19590056204410097,
+                    -0.8188485277445692,
+                    -0.5395461596576856
+                ]
+            ],
+            "translation_vector": [
+                0.6307654165863719,
+                -0.2557959663326587,
+                0.46158559491028617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655202593863527,
+                    -0.25725651744890593,
+                    0.03987120445348226
+                ],
+                [
+                    -0.17144002509523013,
+                    -0.5130892455516419,
+                    0.8410396803329757
+                ],
+                [
+                    -0.19590545298652987,
+                    -0.8188763706013918,
+                    -0.5395021252607212
+                ]
+            ],
+            "translation_vector": [
+                0.6307654779796136,
+                -0.2557973009032939,
+                0.4615973994301939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655247462294262,
+                    -0.2572504363342535,
+                    0.039801726400216814
+                ],
+                [
+                    -0.17139735842471113,
+                    -0.5131784487740467,
+                    0.8409939507742572
+                ],
+                [
+                    -0.1959206725785532,
+                    -0.8188223816675378,
+                    -0.5395785367642676
+                ]
+            ],
+            "translation_vector": [
+                0.6307526780309596,
+                -0.25579059139616955,
+                0.46157207902411596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655182575233568,
+                    -0.25726686660746884,
+                    0.039852901212282
+                ],
+                [
+                    -0.17143723211504952,
+                    -0.5131193853110412,
+                    0.84102186170322
+                ],
+                [
+                    -0.19591776293585947,
+                    -0.8188542335263306,
+                    -0.5395312543330685
+                ]
+            ],
+            "translation_vector": [
+                0.6307574832539476,
+                -0.25580763769330594,
+                0.4615896247863316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655353225505372,
+                    -0.25722839412546633,
+                    0.03968745598881926
+                ],
+                [
+                    -0.17129167240600748,
+                    -0.5132056016968947,
+                    0.84099891400125
+                ],
+                [
+                    -0.19596097537924176,
+                    -0.8188122884047128,
+                    -0.5395792179892163
+                ]
+            ],
+            "translation_vector": [
+                0.6307317539396703,
+                -0.25577406414190557,
+                0.4615669572198009
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655167592550756,
+                    -0.2572603979988295,
+                    0.03993088051947456
+                ],
+                [
+                    -0.17149630425079623,
+                    -0.5130978997935763,
+                    0.8410229264745045
+                ],
+                [
+                    -0.19587344185952082,
+                    -0.8188697288634531,
+                    -0.5395238288761673
+                ]
+            ],
+            "translation_vector": [
+                0.6307685872040315,
+                -0.2558156061510316,
+                0.46160473671027374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655208081218587,
+                    -0.25727013339552446,
+                    0.03976993269245517
+                ],
+                [
+                    -0.1713829007082712,
+                    -0.5131865123177537,
+                    0.8409919767274593
+                ],
+                [
+                    -0.19595272498368635,
+                    -0.8188111394197014,
+                    -0.5395839578172045
+                ]
+            ],
+            "translation_vector": [
+                0.6307489599364613,
+                -0.25578361880377626,
+                0.46155751281287705
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655098819491358,
+                    -0.2573068693179611,
+                    0.039797523294249036
+                ],
+                [
+                    -0.17141874868590917,
+                    -0.5131477776123322,
+                    0.8410083061007674
+                ],
+                [
+                    -0.19597520368027088,
+                    -0.8188238719854928,
+                    -0.5395564717517176
+                ]
+            ],
+            "translation_vector": [
+                0.6307509786205547,
+                -0.25580306084186416,
+                0.4615781566438537
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655263597016306,
+                    -0.25723441256193186,
+                    0.039866097316333456
+                ],
+                [
+                    -0.17143251952922098,
+                    -0.5131294972359882,
+                    0.8410166528162242
+                ],
+                [
+                    -0.19588195416929255,
+                    -0.8188580927488351,
+                    -0.5395383989769026
+                ]
+            ],
+            "translation_vector": [
+                0.6307613257993964,
+                -0.2557991367521534,
+                0.4615925260979188
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655205060087766,
+                    -0.2572526496010582,
+                    0.039890183626945366
+                ],
+                [
+                    -0.17146430658938144,
+                    -0.5131309187290881,
+                    0.8410093054241816
+                ],
+                [
+                    -0.1958829855867498,
+                    -0.8188514728065628,
+                    -0.5395480714821841
+                ]
+            ],
+            "translation_vector": [
+                0.6307683771419503,
+                -0.2557965147694741,
+                0.4615847866842671
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655138121734544,
+                    -0.2572809524624391,
+                    0.039869662681082
+                ],
+                [
+                    -0.17146514205297111,
+                    -0.5131412251216882,
+                    0.8410028466904063
+                ],
+                [
+                    -0.1959152458667715,
+                    -0.8188361219319974,
+                    -0.539559655512094
+                ]
+            ],
+            "translation_vector": [
+                0.6307626176259643,
+                -0.25580488572102206,
+                0.461584679031792
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655322206291453,
+                    -0.2572249866654845,
+                    0.03978488609877647
+                ],
+                [
+                    -0.1713581770083046,
+                    -0.5131370463872582,
+                    0.8410271974183422
+                ],
+                [
+                    -0.19591811069766327,
+                    -0.818856323087208,
+                    -0.5395279566813532
+                ]
+            ],
+            "translation_vector": [
+                0.630746659704383,
+                -0.25578409943220504,
+                0.4615943672329797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655235626012675,
+                    -0.25727352361117384,
+                    0.039681029604175924
+                ],
+                [
+                    -0.17130797702982006,
+                    -0.5131888839619649,
+                    0.8410057945007416
+                ],
+                [
+                    -0.19600466083159174,
+                    -0.8188085877826171,
+                    -0.5395689664034885
+                ]
+            ],
+            "translation_vector": [
+                0.630731791347946,
+                -0.25579183691179513,
+                0.46156692134762944
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655262705981885,
+                    -0.2572536237580577,
+                    0.03974410457038236
+                ],
+                [
+                    -0.17135720202829322,
+                    -0.5132127314331532,
+                    0.840981213588007
+                ],
+                [
+                    -0.19594828424303307,
+                    -0.8187998933550675,
+                    -0.5396026357829821
+                ]
+            ],
+            "translation_vector": [
+                0.6307339291418638,
+                -0.25579846947104623,
+                0.46156563107099474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655166033514869,
+                    -0.25725416847856947,
+                    0.03997476019950492
+                ],
+                [
+                    -0.17152286798818248,
+                    -0.5130641040163675,
+                    0.8410381269163669
+                ],
+                [
+                    -0.19585094947361528,
+                    -0.8188928611059462,
+                    -0.5394968837908163
+                ]
+            ],
+            "translation_vector": [
+                0.6307777303492221,
+                -0.25580773510661614,
+                0.46161143822423994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655017797577127,
+                    -0.25733035403664023,
+                    0.03984221600346687
+                ],
+                [
+                    -0.17147851230033528,
+                    -0.5131785062581178,
+                    0.8409773721890208
+                ],
+                [
+                    -0.19596283602753167,
+                    -0.8187972335114869,
+                    -0.5396013874055388
+                ]
+            ],
+            "translation_vector": [
+                0.630762269611384,
+                -0.2558039001007037,
+                0.4615663584767188
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655293386372783,
+                    -0.25723417288895883,
+                    0.03979543351684628
+                ],
+                [
+                    -0.1713794511936815,
+                    -0.5131655287729956,
+                    0.8410054838035748
+                ],
+                [
+                    -0.19591370533786823,
+                    -0.8188355881233212,
+                    -0.5395610249856099
+                ]
+            ],
+            "translation_vector": [
+                0.6307508477598369,
+                -0.25578795597475,
+                0.46157508539148046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655446863683531,
+                    -0.2571897298007094,
+                    0.0397102192247404
+                ],
+                [
+                    -0.17128493704409944,
+                    -0.5131873368817113,
+                    0.8410114313171112
+                ],
+                [
+                    -0.19592072112882225,
+                    -0.8188358810831969,
+                    -0.5395580329149656
+                ]
+            ],
+            "translation_vector": [
+                0.6307313264780988,
+                -0.25577096778568353,
+                0.4615805289008752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965514267408165,
+                    -0.2572819300140646,
+                    0.039852326400261484
+                ],
+                [
+                    -0.1714408818065159,
+                    -0.5131005995915637,
+                    0.841032578883947
+                ],
+                [
+                    -0.195934232528875,
+                    -0.8188612722476355,
+                    -0.5395145904758324
+                ]
+            ],
+            "translation_vector": [
+                0.6307672523021818,
+                -0.25579254352773917,
+                0.4615909322349057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655360667451266,
+                    -0.25721665081138095,
+                    0.0397454193552737
+                ],
+                [
+                    -0.17133121895021214,
+                    -0.5131880490015388,
+                    0.841001569424831
+                ],
+                [
+                    -0.1959227327988891,
+                    -0.8188269786147562,
+                    -0.539570812651356
+                ]
+            ],
+            "translation_vector": [
+                0.6307377296060015,
+                -0.2557840726526971,
+                0.46158414285246296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655147335936693,
+                    -0.25727922217415355,
+                    0.039858512905134175
+                ],
+                [
+                    -0.17145323143490904,
+                    -0.5131361864913402,
+                    0.8410083492710715
+                ],
+                [
+                    -0.1959211286310735,
+                    -0.8188398231342854,
+                    -0.5395519024202762
+                ]
+            ],
+            "translation_vector": [
+                0.6307634089105562,
+                -0.25579697023312997,
+                0.46157503002532335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655105952427718,
+                    -0.2572840434866701,
+                    0.039927577450903
+                ],
+                [
+                    -0.17150595089458348,
+                    -0.513093524479909,
+                    0.8410236286481669
+                ],
+                [
+                    -0.1958953784082037,
+                    -0.8188650414469618,
+                    -0.5395229787639932
+                ]
+            ],
+            "translation_vector": [
+                0.6307725188029807,
+                -0.25581460905451675,
+                0.4616006493472491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655010835257865,
+                    -0.2573291308517701,
+                    0.03986698039236565
+                ],
+                [
+                    -0.1714892316896744,
+                    -0.5131360980208948,
+                    0.8410010632112045
+                ],
+                [
+                    -0.1959568858831397,
+                    -0.8188241956140302,
+                    -0.5395626335765097
+                ]
+            ],
+            "translation_vector": [
+                0.6307636275853608,
+                -0.25581962072633646,
+                0.4615856940486098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655349059499881,
+                    -0.25722155232577476,
+                    0.039741897429112806
+                ],
+                [
+                    -0.17133437853086989,
+                    -0.5132023166367495,
+                    0.8409922193053357
+                ],
+                [
+                    -0.19592569031545606,
+                    -0.8188164966693039,
+                    -0.5395856453396624
+                ]
+            ],
+            "translation_vector": [
+                0.6307381510199283,
+                -0.2557836290964317,
+                0.4615778450379182
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965520001914067,
+                    -0.25725380318810703,
+                    0.03989494515743103
+                ],
+                [
+                    -0.1714565620329511,
+                    -0.5130784385316507,
+                    0.8410429021457608
+                ],
+                [
+                    -0.19589224905467947,
+                    -0.8188839946287738,
+                    -0.5394953476176801
+                ]
+            ],
+            "translation_vector": [
+                0.6307658993507204,
+                -0.25580192284722403,
+                0.46160237906097656
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655168993537175,
+                    -0.2572707134664494,
+                    0.0398609715742973
+                ],
+                [
+                    -0.17144952337306424,
+                    -0.5131321485515996,
+                    0.8410115689204091
+                ],
+                [
+                    -0.19591370038241804,
+                    -0.8188450269222395,
+                    -0.5395467022299227
+                ]
+            ],
+            "translation_vector": [
+                0.6307626167091761,
+                -0.2557959663842439,
+                0.46158220649008586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655087867741091,
+                    -0.25730358477793186,
+                    0.03984529987857515
+                ],
+                [
+                    -0.1714533826723427,
+                    -0.513126480515843,
+                    0.8410142404047837
+                ],
+                [
+                    -0.19595030041364866,
+                    -0.8188382503607472,
+                    -0.5395436956484163
+                ]
+            ],
+            "translation_vector": [
+                0.6307648654625162,
+                -0.25579631596580055,
+                0.46158051556227636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655087867741091,
+                    -0.25730358477793186,
+                    0.03984529987857515
+                ],
+                [
+                    -0.1714533826723427,
+                    -0.513126480515843,
+                    0.8410142404047837
+                ],
+                [
+                    -0.19595030041364866,
+                    -0.8188382503607472,
+                    -0.5395436956484163
+                ]
+            ],
+            "translation_vector": [
+                0.6307648654625162,
+                -0.25579631596580055,
+                0.46158051556227636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655136137904402,
+                    -0.25727783587789,
+                    0.03989457044904644
+                ],
+                [
+                    -0.17147063722262926,
+                    -0.5130809862719177,
+                    0.8410384783686781
+                ],
+                [
+                    -0.1959114140518359,
+                    -0.8188748480031766,
+                    -0.5395022716838035
+                ]
+            ],
+            "translation_vector": [
+                0.6307723822099315,
+                -0.25580151176009525,
+                0.4615956995085452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655210991820229,
+                    -0.2572601879502856,
+                    0.03982716070877093
+                ],
+                [
+                    -0.17141598275467593,
+                    -0.5131403040172308,
+                    0.8410134298864393
+                ],
+                [
+                    -0.19592235168705777,
+                    -0.8188432231440204,
+                    -0.5395462983104647
+                ]
+            ],
+            "translation_vector": [
+                0.6307553928812898,
+                -0.25579451514012674,
+                0.46158037180453004
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655251506207364,
+                    -0.25724209811832005,
+                    0.03984578364757606
+                ],
+                [
+                    -0.171418471115072,
+                    -0.5131262987658861,
+                    0.8410214677850941
+                ],
+                [
+                    -0.19590020745107964,
+                    -0.8188576826717251,
+                    -0.5395323940692688
+                ]
+            ],
+            "translation_vector": [
+                0.6307565347146717,
+                -0.25578941130621896,
+                0.4615886880770077
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965527356755997,
+                    -0.25723476819529595,
+                    0.03983964592324962
+                ],
+                [
+                    -0.17141020957537859,
+                    -0.5131316973556376,
+                    0.8410198578049434
+                ],
+                [
+                    -0.19589656303545067,
+                    -0.8188566023428246,
+                    -0.5395353569419367
+                ]
+            ],
+            "translation_vector": [
+                0.6307573716626664,
+                -0.25578710240202335,
+                0.46158979358283303
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655078741403368,
+                    -0.25730439693369744,
+                    0.039862166167861084
+                ],
+                [
+                    -0.17146412204108313,
+                    -0.5131080166616355,
+                    0.8410233160205748
+                ],
+                [
+                    -0.19594540011362455,
+                    -0.8188495652781098,
+                    -0.539528302888887
+                ]
+            ],
+            "translation_vector": [
+                0.6307706375591472,
+                -0.25580024726571937,
+                0.4615869957511723
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655209132031729,
+                    -0.2572609652334318,
+                    0.039826648546845964
+                ],
+                [
+                    -0.1714159827553591,
+                    -0.5131403040200859,
+                    0.8410134298845577
+                ],
+                [
+                    -0.19592326820295072,
+                    -0.8188429789387809,
+                    -0.5395463361189081
+                ]
+            ],
+            "translation_vector": [
+                0.6307554812371183,
+                -0.25579451513980217,
+                0.4615798974148118
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655173799374441,
+                    -0.25726040102013326,
+                    0.03991585030653575
+                ],
+                [
+                    -0.1714931119795797,
+                    -0.5131392788686597,
+                    0.8409983311670194
+                ],
+                [
+                    -0.19587317729156495,
+                    -0.8188437986265222,
+                    -0.539563278836315
+                ]
+            ],
+            "translation_vector": [
+                0.6307673421746576,
+                -0.2558113764528457,
+                0.4615938597111043
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655181759729623,
+                    -0.25726726995253274,
+                    0.03985227317248466
+                ],
+                [
+                    -0.1714412619834406,
+                    -0.5131375474006622,
+                    0.8410099589999861
+                ],
+                [
+                    -0.1959146384407479,
+                    -0.8188427255943619,
+                    -0.5395498542172236
+                ]
+            ],
+            "translation_vector": [
+                0.6307638955288284,
+                -0.25579365744904636,
+                0.4615809400555605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655117695018788,
+                    -0.2572838258266042,
+                    0.0399005754516997
+                ],
+                [
+                    -0.17148663186737864,
+                    -0.5131116083039929,
+                    0.8410165352206056
+                ],
+                [
+                    -0.19590650332271592,
+                    -0.8188537783949682,
+                    -0.5395360336105006
+                ]
+            ],
+            "translation_vector": [
+                0.6307744856378853,
+                -0.2558016611015408,
+                0.4615932278167585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655337861546686,
+                    -0.2572029440129899,
+                    0.03988926403033609
+                ],
+                [
+                    -0.17143617182238702,
+                    -0.5131359090759516,
+                    0.8410119962329204
+                ],
+                [
+                    -0.19584214762077154,
+                    -0.8188639596464407,
+                    -0.539543945205056
+                ]
+            ],
+            "translation_vector": [
+                0.6307624265526905,
+                -0.2557920547517958,
+                0.46157873522761594
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9667728908939988,
+                    -0.2520406852213221,
+                    0.04272786474453116
+                ],
+                [
+                    -0.17111525601753946,
+                    -0.5138485752016978,
+                    0.8406421420088558
+                ],
+                [
+                    -0.1899203690774437,
+                    -0.8200214233520681,
+                    -0.5399028789079902
+                ]
+            ],
+            "translation_vector": [
+                0.6306140168524826,
+                -0.2553745181300205,
+                0.4611683065464684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9687878534937706,
+                    -0.2420249572397394,
+                    0.053609840477611956
+                ],
+                [
+                    -0.1754826411167209,
+                    -0.5168275569312448,
+                    0.8379111641834004
+                ],
+                [
+                    -0.1750883708006697,
+                    -0.8211657545645602,
+                    -0.543167438218441
+                ]
+            ],
+            "translation_vector": [
+                0.6317131970011259,
+                -0.2533938339362452,
+                0.458212243710858
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9708320970764784,
+                    -0.23183239013533224,
+                    0.06114558177191821
+                ],
+                [
+                    -0.17833219244692694,
+                    -0.5277583236638106,
+                    0.8304629919151345
+                ],
+                [
+                    -0.16025813059922878,
+                    -0.8171443536412056,
+                    -0.5537078985251492
+                ]
+            ],
+            "translation_vector": [
+                0.6332065214816077,
+                -0.2475037955096351,
+                0.4496108462890604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9725397955637339,
+                    -0.2220670412220757,
+                    0.06966042813336801
+                ],
+                [
+                    -0.18152824437208803,
+                    -0.5364670062595017,
+                    0.8241666383020825
+                ],
+                [
+                    -0.14564972550622496,
+                    -0.8141801891460152,
+                    -0.5620469527202514
+                ]
+            ],
+            "translation_vector": [
+                0.6344896439728418,
+                -0.24410259282972077,
+                0.4441144504497789
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9734439698579144,
+                    -0.2116592787023897,
+                    0.08721919104444767
+                ],
+                [
+                    -0.19236614171289948,
+                    -0.5497462933976072,
+                    0.8128802374385077
+                ],
+                [
+                    -0.12410521773783893,
+                    -0.8080713846157258,
+                    -0.5758632930613545
+                ]
+            ],
+            "translation_vector": [
+                0.6376601078520076,
+                -0.24132690275782037,
+                0.4375859596673402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9742053665902211,
+                    -0.20231518969548992,
+                    0.09996233153188991
+                ],
+                [
+                    -0.1991041217326507,
+                    -0.5621194539405495,
+                    0.80273237645597
+                ],
+                [
+                    -0.10621418180207082,
+                    -0.8019291013051322,
+                    -0.5879015768511429
+                ]
+            ],
+            "translation_vector": [
+                0.6411757189332863,
+                -0.23701360922718426,
+                0.4303362711697223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.975777826882238,
+                    -0.18894599077159352,
+                    0.1102589911812998
+                ],
+                [
+                    -0.20151149666061635,
+                    -0.5801339062753877,
+                    0.7892007143327088
+                ],
+                [
+                    -0.08515133163125206,
+                    -0.7923030123387141,
+                    -0.6041565917545086
+                ]
+            ],
+            "translation_vector": [
+                0.6430257210150355,
+                -0.23340284541992684,
+                0.4226723409196165
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9766191056423511,
+                    -0.17895178264915804,
+                    0.1191275869856492
+                ],
+                [
+                    -0.20416348581658478,
+                    -0.5985304057644157,
+                    0.7746474194333222
+                ],
+                [
+                    -0.06732305365590666,
+                    -0.7808569733710348,
+                    -0.621071649316141
+                ]
+            ],
+            "translation_vector": [
+                0.6452857772370557,
+                -0.2298860563465288,
+                0.4146404176651688
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9769326928825804,
+                    -0.16923541458490668,
+                    0.13023781335489515
+                ],
+                [
+                    -0.2082838746250698,
+                    -0.6205587278686597,
+                    0.7559925216807366
+                ],
+                [
+                    -0.04712049605381885,
+                    -0.7656802463929089,
+                    -0.6414931169820426
+                ]
+            ],
+            "translation_vector": [
+                0.648592551310185,
+                -0.22556654611475913,
+                0.4029442685175404
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9768466560068074,
+                    -0.16320941459962715,
+                    0.1383231637664677
+                ],
+                [
+                    -0.21114284588050383,
+                    -0.6312426492004459,
+                    0.7462917770308638
+                ],
+                [
+                    -0.03448636370799061,
+                    -0.7582185732468241,
+                    -0.6510877712733902
+                ]
+            ],
+            "translation_vector": [
+                0.650700332445359,
+                -0.22348964823187298,
+                0.39681522946458203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9758426831241365,
+                    -0.15837919824993538,
+                    0.15048949250626836
+                ],
+                [
+                    -0.2176041403015541,
+                    -0.6431824433555827,
+                    0.7341422087598318
+                ],
+                [
+                    -0.019480654935295428,
+                    -0.7491544394321178,
+                    -0.6621088505392763
+                ]
+            ],
+            "translation_vector": [
+                0.6537431177105641,
+                -0.22185581484628555,
+                0.3900074274358821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9735574479328679,
+                    -0.1573931736402792,
+                    0.16556957590657304
+                ],
+                [
+                    -0.22839632454705575,
+                    -0.6560866184856193,
+                    0.7192951188333628
+                ],
+                [
+                    -0.004584158356503027,
+                    -0.7380906027958537,
+                    -0.6746860362840009
+                ]
+            ],
+            "translation_vector": [
+                0.6580818415952836,
+                -0.22010400516445447,
+                0.3811689195952122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9724604579752238,
+                    -0.15500272906672719,
+                    0.17405404808990899
+                ],
+                [
+                    -0.233011533689958,
+                    -0.6630090129901715,
+                    0.7114243978535261
+                ],
+                [
+                    0.005126679439084871,
+                    -0.7323886964417633,
+                    -0.6808674720400905
+                ]
+            ],
+            "translation_vector": [
+                0.660157211630613,
+                -0.21886980713065157,
+                0.37578480336740716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9707480600136796,
+                    -0.15230678063845365,
+                    0.18560939779878646
+                ],
+                [
+                    -0.2394676633344423,
+                    -0.6702532504575652,
+                    0.7024356329715989
+                ],
+                [
+                    0.017419592326469245,
+                    -0.726335476775449,
+                    -0.6871195914690261
+                ]
+            ],
+            "translation_vector": [
+                0.6629134822984786,
+                -0.21738754547077221,
+                0.36966924942005336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9687882415576387,
+                    -0.15211710379199336,
+                    0.19572871468845535
+                ],
+                [
+                    -0.2466078957581099,
+                    -0.6716152235192643,
+                    0.698654089866313
+                ],
+                [
+                    0.025177147761730728,
+                    -0.7251161136473971,
+                    -0.6881662102715298
+                ]
+            ],
+            "translation_vector": [
+                0.6658292621208738,
+                -0.21571320022956023,
+                0.36552080967166867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.966371304575379,
+                    -0.15398573396749038,
+                    0.20594876893968955
+                ],
+                [
+                    -0.25525168212926236,
+                    -0.6715575676608723,
+                    0.6955983123093349
+                ],
+                [
+                    0.03119423766438839,
+                    -0.7247750182311106,
+                    -0.6882790803770165
+                ]
+            ],
+            "translation_vector": [
+                0.6689552640818591,
+                -0.2140210978331979,
+                0.3613985966327921
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650220838658343,
+                    -0.15550323502147248,
+                    0.21107136600946114
+                ],
+                [
+                    -0.2600010921920565,
+                    -0.6709757910994492,
+                    0.6943996830481753
+                ],
+                [
+                    0.03364237967476307,
+                    -0.724989814863854,
+                    -0.6879374670952979
+                ]
+            ],
+            "translation_vector": [
+                0.670648942870583,
+                -0.21266766228728437,
+                0.35845070279797453
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9628714957823278,
+                    -0.16107646779612408,
+                    0.2166399181412033
+                ],
+                [
+                    -0.2678427345701021,
+                    -0.6703202358592804,
+                    0.6920484455119951
+                ],
+                [
+                    0.033745401878075953,
+                    -0.7243791499759524,
+                    -0.6885754097643947
+                ]
+            ],
+            "translation_vector": [
+                0.6734675885829428,
+                -0.20966806933580362,
+                0.35214439282516674
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9616742565460838,
+                    -0.1615120802650433,
+                    0.22157723760575054
+                ],
+                [
+                    -0.2713057024641102,
+                    -0.6774925240003778,
+                    0.6836644613654079
+                ],
+                [
+                    0.03969685260814397,
+                    -0.7175776807092427,
+                    -0.6953462677263405
+                ]
+            ],
+            "translation_vector": [
+                0.674732522640385,
+                -0.2084009254001934,
+                0.3464698788923447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9618131698960499,
+                    -0.16184490079985178,
+                    0.220729821953443
+                ],
+                [
+                    -0.27013508250551505,
+                    -0.6911629737746814,
+                    0.6703139420321482
+                ],
+                [
+                    0.04407338668914704,
+                    -0.7043436460762785,
+                    -0.7084896363516715
+                ]
+            ],
+            "translation_vector": [
+                0.6750175922542978,
+                -0.20618919719400114,
+                0.3376223536199673
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9620960925443072,
+                    -0.1629091491489747,
+                    0.21870463606090598
+                ],
+                [
+                    -0.2685722809851375,
+                    -0.7051872601184843,
+                    0.6561858410945984
+                ],
+                [
+                    0.04732904602267522,
+                    -0.6900518366689146,
+                    -0.7222107892523077
+                ]
+            ],
+            "translation_vector": [
+                0.6755652667060791,
+                -0.20427499486575015,
+                0.32912687927969975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.960873501583329,
+                    -0.16722778402614444,
+                    0.2208098326721386
+                ],
+                [
+                    -0.27257563196759776,
+                    -0.712591935861115,
+                    0.6464636554387055
+                ],
+                [
+                    0.04924062156855235,
+                    -0.6813571759330153,
+                    -0.7302929275243797
+                ]
+            ],
+            "translation_vector": [
+                0.6771304708991791,
+                -0.20361901327887635,
+                0.32313638332670297
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9598945295722515,
+                    -0.1641102416359868,
+                    0.22731106591506736
+                ],
+                [
+                    -0.273789874179671,
+                    -0.7232206760941573,
+                    0.6340275691691885
+                ],
+                [
+                    0.0603456451945456,
+                    -0.6708350633800294,
+                    -0.7391472930654391
+                ]
+            ],
+            "translation_vector": [
+                0.6783042782093364,
+                -0.20357780698138908,
+                0.3175190968426268
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9589147062842601,
+                    -0.1610667800475222,
+                    0.23353817340403815
+                ],
+                [
+                    -0.2738629239363492,
+                    -0.7403928486846609,
+                    0.6138546477055026
+                ],
+                [
+                    0.0740384019600969,
+                    -0.6525916962249338,
+                    -0.7540838103642455
+                ]
+            ],
+            "translation_vector": [
+                0.6792985143500831,
+                -0.20399324204172162,
+                0.30945612876889905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9580476899179874,
+                    -0.16266880550669066,
+                    0.23597348062406232
+                ],
+                [
+                    -0.27493875904265463,
+                    -0.7541616193038778,
+                    0.5963630863367033
+                ],
+                [
+                    0.08095247135754007,
+                    -0.6362225331469954,
+                    -0.7672467567198492
+                ]
+            ],
+            "translation_vector": [
+                0.6802809544917595,
+                -0.20366321031090753,
+                0.30156626427796884
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9559779794010517,
+                    -0.1638464633264437,
+                    0.24343467163840768
+                ],
+                [
+                    -0.2792533838455387,
+                    -0.7627978285315479,
+                    0.5832298178234475
+                ],
+                [
+                    0.09013129595816974,
+                    -0.6255348185696556,
+                    -0.7749726061261322
+                ]
+            ],
+            "translation_vector": [
+                0.6817605805311758,
+                -0.204413410092061,
+                0.29643299625696307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9525579867085989,
+                    -0.16175924037249628,
+                    0.25781239324705246
+                ],
+                [
+                    -0.28463564479676134,
+                    -0.773418411651156,
+                    0.566397837416541
+                ],
+                [
+                    0.10777676775999433,
+                    -0.612909380474076,
+                    -0.7827683307710476
+                ]
+            ],
+            "translation_vector": [
+                0.6838616628713562,
+                -0.2061807181035134,
+                0.2914706970641102
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9494068730816903,
+                    -0.15941053458172383,
+                    0.2705824658207103
+                ],
+                [
+                    -0.2884275805338936,
+                    -0.7834597230823582,
+                    0.5504547148449894
+                ],
+                [
+                    0.1242421833863653,
+                    -0.6006489355456173,
+                    -0.7898004406780901
+                ]
+            ],
+            "translation_vector": [
+                0.685705151287366,
+                -0.20779142874563722,
+                0.28740094146358736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9457383442457751,
+                    -0.16209068084837178,
+                    0.2816124915648653
+                ],
+                [
+                    -0.2953517685513623,
+                    -0.7901200334087262,
+                    0.5371011688869949
+                ],
+                [
+                    0.13544857709419664,
+                    -0.5911319175854953,
+                    -0.7951205814056462
+                ]
+            ],
+            "translation_vector": [
+                0.6878325213455946,
+                -0.20952205813684996,
+                0.2837658091697428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9403997861963879,
+                    -0.16297452006621913,
+                    0.2984753724027731
+                ],
+                [
+                    -0.3033358289911028,
+                    -0.7987744266373051,
+                    0.5195640385944019
+                ],
+                [
+                    0.15373879462279194,
+                    -0.5791361853307306,
+                    -0.8006033111775774
+                ]
+            ],
+            "translation_vector": [
+                0.6904394158723811,
+                -0.21167309148916752,
+                0.2793552082659446
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9345819261348953,
+                    -0.1714032030348957,
+                    0.3117331636694556
+                ],
+                [
+                    -0.31666733933147717,
+                    -0.80012347643638,
+                    0.5094351957374803
+                ],
+                [
+                    0.16210619834760265,
+                    -0.5748246379938322,
+                    -0.8020587360116137
+                ]
+            ],
+            "translation_vector": [
+                0.693290932565536,
+                -0.21392560615582468,
+                0.2771253312331559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9303473184313497,
+                    -0.17527698429214308,
+                    0.32207428625248646
+                ],
+                [
+                    -0.3250752418017694,
+                    -0.8006338465199773,
+                    0.5033006367710521
+                ],
+                [
+                    0.1696465568619592,
+                    -0.5729427742663984,
+                    -0.801845760206291
+                ]
+            ],
+            "translation_vector": [
+                0.6949683743457077,
+                -0.21554935614344573,
+                0.2756723523552739
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9249063348886776,
+                    -0.17943025605190657,
+                    0.3351910722199218
+                ],
+                [
+                    -0.3343055627000385,
+                    -0.8037087548408637,
+                    0.4922316813655527
+                ],
+                [
+                    0.1810747426633658,
+                    -0.5673244403384149,
+                    -0.8033398514726506
+                ]
+            ],
+            "translation_vector": [
+                0.6967531183228268,
+                -0.2180603720701537,
+                0.27316817831920015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9225769141807173,
+                    -0.18268069910961687,
+                    0.3398228944518115
+                ],
+                [
+                    -0.33898932617435584,
+                    -0.8043931553734364,
+                    0.4878912669112074
+                ],
+                [
+                    0.1842228926074108,
+                    -0.5653135534915013,
+                    -0.8040413621687444
+                ]
+            ],
+            "translation_vector": [
+                0.6975117435731497,
+                -0.21915046395239562,
+                0.2718998629980284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9205718058886628,
+                    -0.18557063190891496,
+                    0.34367294158227213
+                ],
+                [
+                    -0.34308480578518835,
+                    -0.8047201012841465,
+                    0.4844774242713197
+                ],
+                [
+                    0.1866557425910744,
+                    -0.5639052217901148,
+                    -0.8044691010819596
+                ]
+            ],
+            "translation_vector": [
+                0.6981935998964416,
+                -0.22028748203128692,
+                0.2709222802665674
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9189929047463655,
+                    -0.18776282965411098,
+                    0.3466946218592364
+                ],
+                [
+                    -0.346177294553267,
+                    -0.805137567677338,
+                    0.48157530859710906
+                ],
+                [
+                    0.18871492193681513,
+                    -0.5625820979331829,
+                    -0.8049149404275463
+                ]
+            ],
+            "translation_vector": [
+                0.698653470733646,
+                -0.22140390889090053,
+                0.2700626774541623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9182222933749451,
+                    -0.18915305350402167,
+                    0.3479783647001081
+                ],
+                [
+                    -0.34786112875191444,
+                    -0.8052274133623452,
+                    0.4802097956864596
+                ],
+                [
+                    0.18936856933689067,
+                    -0.5619874866221596,
+                    -0.8051767568847275
+                ]
+            ],
+            "translation_vector": [
+                0.6988264403649713,
+                -0.222148642187666,
+                0.26952029795402943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9174223571916459,
+                    -0.18990725728355812,
+                    0.3496733506516623
+                ],
+                [
+                    -0.34937598601663383,
+                    -0.8050381510735057,
+                    0.479426736541733
+                ],
+                [
+                    0.19045377108324432,
+                    -0.5620042784064796,
+                    -0.8049090334522175
+                ]
+            ],
+            "translation_vector": [
+                0.6990059118059996,
+                -0.22280406973810882,
+                0.26927316148672337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9163538746738102,
+                    -0.1905261672172172,
+                    0.3521297431001986
+                ],
+                [
+                    -0.35140009904528685,
+                    -0.8042228075748062,
+                    0.4793158104709864
+                ],
+                [
+                    0.19186856637098587,
+                    -0.5629613267197074,
+                    -0.8039035998530728
+                ]
+            ],
+            "translation_vector": [
+                0.6992306206236266,
+                -0.22368669184064116,
+                0.2694267761148836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9151684057062395,
+                    -0.19064320200792345,
+                    0.35513653532869055
+                ],
+                [
+                    -0.35319411998044514,
+                    -0.8038318225731736,
+                    0.4786526032833509
+                ],
+                [
+                    0.19421818351621734,
+                    -0.5634798759022865,
+                    -0.8029755454836747
+                ]
+            ],
+            "translation_vector": [
+                0.6994178471799032,
+                -0.22477672972904084,
+                0.26976113016002673
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9143115554058774,
+                    -0.19150342611972837,
+                    0.3568764736371543
+                ],
+                [
+                    -0.3550614601602772,
+                    -0.8029153550837117,
+                    0.47880924393713287
+                ],
+                [
+                    0.19484798987964103,
+                    -0.5644939063933309,
+                    -0.8021102732696175
+                ]
+            ],
+            "translation_vector": [
+                0.699568682975976,
+                -0.2255271983985075,
+                0.27018000826153044
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9134146076057226,
+                    -0.1917566238564324,
+                    0.35903085079094055
+                ],
+                [
+                    -0.3566946101903257,
+                    -0.8020023727709057,
+                    0.47912540021481725
+                ],
+                [
+                    0.19606812508323596,
+                    -0.5657045088003275,
+                    -0.8009592368212783
+                ]
+            ],
+            "translation_vector": [
+                0.6996303350789098,
+                -0.22660651651481895,
+                0.2709374952784036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9126411115653374,
+                    -0.19184454234237294,
+                    0.36094580348610655
+                ],
+                [
+                    -0.3581716627322951,
+                    -0.8008319245158907,
+                    0.4799805086581728
+                ],
+                [
+                    0.19697528143492674,
+                    -0.5673305035423539,
+                    -0.7995854164840746
+                ]
+            ],
+            "translation_vector": [
+                0.6997810889381647,
+                -0.22729733493909365,
+                0.27173931467361934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9118826876319476,
+                    -0.1917851756506936,
+                    0.3628889780604659
+                ],
+                [
+                    -0.3595097484394658,
+                    -0.7997997067016672,
+                    0.4807007072357181
+                ],
+                [
+                    0.19804722864541344,
+                    -0.5688047780746572,
+                    -0.7982721463669591
+                ]
+            ],
+            "translation_vector": [
+                0.6999201223196811,
+                -0.22799427371960143,
+                0.27258743978297956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9110484683793042,
+                    -0.19129614528821193,
+                    0.36523481907068384
+                ],
+                [
+                    -0.360915579554395,
+                    -0.7982847934198223,
+                    0.48216318091449767
+                ],
+                [
+                    0.19932544418272094,
+                    -0.5710929638793869,
+                    -0.7963178975188352
+                ]
+            ],
+            "translation_vector": [
+                0.7000812845295532,
+                -0.22858204383844882,
+                0.27378029564001527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9104433103805436,
+                    -0.19038570221593998,
+                    0.36721419222990326
+                ],
+                [
+                    -0.3618415942283729,
+                    -0.7967180557775589,
+                    0.48405681514084276
+                ],
+                [
+                    0.20040868062433467,
+                    -0.5735796579288442,
+                    -0.7942560901501754
+                ]
+            ],
+            "translation_vector": [
+                0.7001950181879366,
+                -0.22880558919634716,
+                0.2749404262560857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9093886410366219,
+                    -0.18966079739589062,
+                    0.37019060156184563
+                ],
+                [
+                    -0.36374787046532514,
+                    -0.7942816706784486,
+                    0.4866252298804429
+                ],
+                [
+                    0.20174188034591925,
+                    -0.5771874994795086,
+                    -0.7912994402620828
+                ]
+            ],
+            "translation_vector": [
+                0.700612465520301,
+                -0.22889620291055143,
+                0.27645387589139864
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9079360705786609,
+                    -0.1870523105093305,
+                    0.37505136298286157
+                ],
+                [
+                    -0.36545798372521326,
+                    -0.79141438549609,
+                    0.490003808721267
+                ],
+                [
+                    0.20516469938486734,
+                    -0.5819576475680747,
+                    -0.7869134276166279
+                ]
+            ],
+            "translation_vector": [
+                0.7010951239190375,
+                -0.22872280091508543,
+                0.27854605192496257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9071283691194323,
+                    -0.18559862502363397,
+                    0.37771850937974394
+                ],
+                [
+                    -0.3662461321082864,
+                    -0.7902677177113829,
+                    0.4912643942511626
+                ],
+                [
+                    0.20732074824879165,
+                    -0.5839778118495417,
+                    -0.7848490444747849
+                ]
+            ],
+            "translation_vector": [
+                0.7013980298751588,
+                -0.22856194909301691,
+                0.27960564526623954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9058337217439185,
+                    -0.184026710044523,
+                    0.3815749448558571
+                ],
+                [
+                    -0.36760704493414514,
+                    -0.7891161098767487,
+                    0.492098390210507
+                ],
+                [
+                    0.2105476883424434,
+                    -0.5860289541679456,
+                    -0.7824574977661579
+                ]
+            ],
+            "translation_vector": [
+                0.7019850026765677,
+                -0.22834334224150055,
+                0.28083482899125317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9031633491661325,
+                    -0.1792534576818557,
+                    0.3900822511113704
+                ],
+                [
+                    -0.3694761732746688,
+                    -0.7872447361839737,
+                    0.4936933083736634
+                ],
+                [
+                    0.21859396630584757,
+                    -0.5900117992546636,
+                    -0.7772404741358706
+                ]
+            ],
+            "translation_vector": [
+                0.7032309929332092,
+                -0.22712590416851597,
+                0.2830290416786679
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9020431526553686,
+                    -0.1744402754788841,
+                    0.39482748262806516
+                ],
+                [
+                    -0.3687973855916494,
+                    -0.7867599725918181,
+                    0.4949719526479116
+                ],
+                [
+                    0.22429141563673008,
+                    -0.5920974039954686,
+                    -0.7740245635982742
+                ]
+            ],
+            "translation_vector": [
+                0.7038743457043196,
+                -0.22554059259845632,
+                0.28407989703028197
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8996425841060961,
+                    -0.1698775785980223,
+                    0.4022248489993858
+                ],
+                [
+                    -0.3702334834152432,
+                    -0.7851236966204356,
+                    0.49649566842347875
+                ],
+                [
+                    0.23145277838280726,
+                    -0.5955857530991948,
+                    -0.7692250789490318
+                ]
+            ],
+            "translation_vector": [
+                0.7053186006485046,
+                -0.2234417292972686,
+                0.28553575128830916
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8965873575712673,
+                    -0.16645683878536013,
+                    0.4103939949182461
+                ],
+                [
+                    -0.37367068270047876,
+                    -0.7817141194140905,
+                    0.4992927562050261
+                ],
+                [
+                    0.23770008652402935,
+                    -0.601011777197617,
+                    -0.7630750372907185
+                ]
+            ],
+            "translation_vector": [
+                0.7073295412134749,
+                -0.22114990262851048,
+                0.28747485643555803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8945268261015481,
+                    -0.1636645555556469,
+                    0.4159755649547984
+                ],
+                [
+                    -0.37635322012130007,
+                    -0.7778658125569994,
+                    0.5032723232598507
+                ],
+                [
+                    0.24120532972763978,
+                    -0.6067443373529018,
+                    -0.7574175189426032
+                ]
+            ],
+            "translation_vector": [
+                0.7093348777383234,
+                -0.21840182464547975,
+                0.2893169209035816
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8931350526630593,
+                    -0.16233769538391152,
+                    0.41947139397340916
+                ],
+                [
+                    -0.3791187107555439,
+                    -0.7735321326583808,
+                    0.5078553365871346
+                ],
+                [
+                    0.24203053703945898,
+                    -0.6126128568699958,
+                    -0.7524139198193861
+                ]
+            ],
+            "translation_vector": [
+                0.7113958368249429,
+                -0.21544036691148566,
+                0.2908124882264388
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8932599523313592,
+                    -0.1583657930421418,
+                    0.42072191903335787
+                ],
+                [
+                    -0.37875855252239987,
+                    -0.7692280814935012,
+                    0.5146164761576953
+                ],
+                [
+                    0.2421334682610281,
+                    -0.619038314029076,
+                    -0.7471030379485314
+                ]
+            ],
+            "translation_vector": [
+                0.7132542055846334,
+                -0.21132739452455127,
+                0.29239724082680946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8948725948660726,
+                    -0.15145868229759096,
+                    0.41983723812251295
+                ],
+                [
+                    -0.374193816814857,
+                    -0.767318202347881,
+                    0.5207703561102017
+                ],
+                [
+                    0.24327356291876745,
+                    -0.6231236184757358,
+                    -0.7433269332417025
+                ]
+            ],
+            "translation_vector": [
+                0.7144920392297026,
+                -0.2070885794869819,
+                0.29370382640391096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.896546590936268,
+                    -0.14216126900972426,
+                    0.41951684575723724
+                ],
+                [
+                    -0.3680533855698579,
+                    -0.7660523517258353,
+                    0.526972959254916
+                ],
+                [
+                    0.24645672165944746,
+                    -0.6268604055201306,
+                    -0.7391245607744447
+                ]
+            ],
+            "translation_vector": [
+                0.7159356009769348,
+                -0.20202348940184814,
+                0.2950398323115913
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8984231501586131,
+                    -0.13478085630098965,
+                    0.4179353586786436
+                ],
+                [
+                    -0.3628457904071549,
+                    -0.7639173807188137,
+                    0.5336414225109539
+                ],
+                [
+                    0.2473434366278627,
+                    -0.6310818934262648,
+                    -0.7352257259825988
+                ]
+            ],
+            "translation_vector": [
+                0.7180065773221348,
+                -0.196101832974018,
+                0.295989910882436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8979813311985949,
+                    -0.1340940944907072,
+                    0.4191041668147871
+                ],
+                [
+                    -0.3640037625598998,
+                    -0.7615220172648146,
+                    0.536269967519312
+                ],
+                [
+                    0.2472464148598229,
+                    -0.6341159129399334,
+                    -0.7326433097321775
+                ]
+            ],
+            "translation_vector": [
+                0.7201114864127242,
+                -0.1932634735640229,
+                0.2963136176813383
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8980013408214279,
+                    -0.13295080362326928,
+                    0.4194254113651726
+                ],
+                [
+                    -0.36442745470509935,
+                    -0.7588977962642249,
+                    0.5396913609485199
+                ],
+                [
+                    0.2465486202356038,
+                    -0.6374937008639613,
+                    -0.7299421615571264
+                ]
+            ],
+            "translation_vector": [
+                0.722160818372115,
+                -0.1897576556429795,
+                0.296417727739037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8982565667650955,
+                    -0.13180355817866396,
+                    0.4192409358767664
+                ],
+                [
+                    -0.3646494821075427,
+                    -0.7559815575500322,
+                    0.5436199406229762
+                ],
+                [
+                    0.2452873732218687,
+                    -0.6411861716347842,
+                    -0.7271274976524025
+                ]
+            ],
+            "translation_vector": [
+                0.7244170586218945,
+                -0.18619002020549194,
+                0.2966912177197863
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8980140914574921,
+                    -0.13243216477015407,
+                    0.4195621685496277
+                ],
+                [
+                    -0.3663627008956192,
+                    -0.7531220411547087,
+                    0.5464298331162315
+                ],
+                [
+                    0.24361663107481493,
+                    -0.6444136193946062,
+                    -0.724832411114805
+                ]
+            ],
+            "translation_vector": [
+                0.7268428773374833,
+                -0.18330962980229754,
+                0.29676360343133945
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8979816739729218,
+                    -0.1331336265720169,
+                    0.41940952622058125
+                ],
+                [
+                    -0.3676057035685329,
+                    -0.7508439358099603,
+                    0.5487252780411088
+                ],
+                [
+                    0.2418573131263008,
+                    -0.6469225776962734,
+                    -0.7231847748356818
+                ]
+            ],
+            "translation_vector": [
+                0.7291411319444875,
+                -0.1805512810959286,
+                0.29655871806470735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8986301210935344,
+                    -0.13437045939169254,
+                    0.417622419305148
+                ],
+                [
+                    -0.36835514146842696,
+                    -0.7481434991066295,
+                    0.5519019790671742
+                ],
+                [
+                    0.23828217561788892,
+                    -0.6497891076244307,
+                    -0.7218003327759354
+                ]
+            ],
+            "translation_vector": [
+                0.7314545763040591,
+                -0.1773710529048791,
+                0.29610350706147354
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8995267056356384,
+                    -0.13605232803357073,
+                    0.4151403014463201
+                ],
+                [
+                    -0.36886976727575616,
+                    -0.7456754279152346,
+                    0.5548903053697749
+                ],
+                [
+                    0.23406580407702743,
+                    -0.6522713547597182,
+                    -0.720940551725104
+                ]
+            ],
+            "translation_vector": [
+                0.7334024284198041,
+                -0.1750122971792752,
+                0.29579228108471733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9013920192425867,
+                    -0.13629923444579256,
+                    0.41099263537837655
+                ],
+                [
+                    -0.3671180778527618,
+                    -0.7438604824117289,
+                    0.5584764091883233
+                ],
+                [
+                    0.2296012729918233,
+                    -0.6542890044893624,
+                    -0.7205478152384153
+                ]
+            ],
+            "translation_vector": [
+                0.7347184734551976,
+                -0.1727520388270452,
+                0.295517835454797
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9061743385931708,
+                    -0.1335218141638787,
+                    0.4012729659690722
+                ],
+                [
+                    -0.36007953390935105,
+                    -0.7412202130431954,
+                    0.566511540072949
+                ],
+                [
+                    0.22178998474875758,
+                    -0.6578484026875696,
+                    -0.7197532089171669
+                ]
+            ],
+            "translation_vector": [
+                0.7355395592770216,
+                -0.16859261882272347,
+                0.29548453359085336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9106439835039492,
+                    -0.13191259937534774,
+                    0.39156940819489316
+                ],
+                [
+                    -0.3534104567323092,
+                    -0.7396536033331347,
+                    0.5727247123606342
+                ],
+                [
+                    0.21407611819238612,
+                    -0.6599330369077983,
+                    -0.7201803957463232
+                ]
+            ],
+            "translation_vector": [
+                0.7353659254233221,
+                -0.16590967394594827,
+                0.2953833103562672
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9165897616095067,
+                    -0.13030779269673118,
+                    0.37799879374825257
+                ],
+                [
+                    -0.3440980629642476,
+                    -0.7385407631446352,
+                    0.5797879476480974
+                ],
+                [
+                    0.2036166299123945,
+                    -0.6614963494504305,
+                    -0.7217775610857361
+                ]
+            ],
+            "translation_vector": [
+                0.7348303614384262,
+                -0.16341921483000132,
+                0.29537471724885284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.925023564630719,
+                    -0.12886153432010178,
+                    0.3573878982989596
+                ],
+                [
+                    -0.3307565627767652,
+                    -0.7359580667382867,
+                    0.5907332902274457
+                ],
+                [
+                    0.1868997085550911,
+                    -0.664650606691601,
+                    -0.7234003524788394
+                ]
+            ],
+            "translation_vector": [
+                0.7328345302207068,
+                -0.16124763552684807,
+                0.29593897100027533
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9319597829766899,
+                    -0.12516148634580218,
+                    0.3402727806477479
+                ],
+                [
+                    -0.3175256633643852,
+                    -0.7347910294843735,
+                    0.5993826791744165
+                ],
+                [
+                    0.1750097597822701,
+                    -0.6666458920033964,
+                    -0.7245376723510986
+                ]
+            ],
+            "translation_vector": [
+                0.7304006388255873,
+                -0.15957746706810375,
+                0.29658296311459664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9398205372242777,
+                    -0.12000955482910068,
+                    0.3198985222866641
+                ],
+                [
+                    -0.30095043800708793,
+                    -0.734041891929292,
+                    0.6087785597047646
+                ],
+                [
+                    0.1617596725850178,
+                    -0.6684161934323454,
+                    -0.7259845733089658
+                ]
+            ],
+            "translation_vector": [
+                0.7265528364500742,
+                -0.15733500050107452,
+                0.2966862513520413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9505536419424132,
+                    -0.10973156267115335,
+                    0.29052841159473736
+                ],
+                [
+                    -0.27474828367139276,
+                    -0.73325104806873,
+                    0.6219777175476087
+                ],
+                [
+                    0.1447796754024482,
+                    -0.6710453670653391,
+                    -0.7271430127083021
+                ]
+            ],
+            "translation_vector": [
+                0.7201690222146814,
+                -0.15359811877128254,
+                0.2969951563299394
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9567460017329806,
+                    -0.10226802957989052,
+                    0.2723570052225608
+                ],
+                [
+                    -0.25785196452047293,
+                    -0.7316096859195699,
+                    0.6310781503598435
+                ],
+                [
+                    0.13471990410064935,
+                    -0.674009285985375,
+                    -0.7263346541674828
+                ]
+            ],
+            "translation_vector": [
+                0.7159532923844301,
+                -0.1505264607107249,
+                0.29770490688592754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9630832843430832,
+                    -0.09089872812869582,
+                    0.25339299249096386
+                ],
+                [
+                    -0.23802057297218304,
+                    -0.7272602056989543,
+                    0.6437692133433444
+                ],
+                [
+                    0.125764837140331,
+                    -0.6803161136055063,
+                    -0.72204791482821
+                ]
+            ],
+            "translation_vector": [
+                0.7107827255229089,
+                -0.14608972885253357,
+                0.2993840854343257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9688632371750044,
+                    -0.07932709062002301,
+                    0.23454475126195648
+                ],
+                [
+                    -0.2181931044993541,
+                    -0.7212941631554697,
+                    0.6573632932760882
+                ],
+                [
+                    0.11702904254801172,
+                    -0.6880711757453679,
+                    -0.7161440220435288
+                ]
+            ],
+            "translation_vector": [
+                0.7047109376574824,
+                -0.14079613974271543,
+                0.3008476139085906
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9723539080499839,
+                    -0.06974393044979324,
+                    0.2228534533394942
+                ],
+                [
+                    -0.20413348486309157,
+                    -0.717301515751793,
+                    0.6661892042489359
+                ],
+                [
+                    0.11339046634339979,
+                    -0.6932635282961271,
+                    -0.7117080036621982
+                ]
+            ],
+            "translation_vector": [
+                0.6998312722006753,
+                -0.13622973500925156,
+                0.3015599196462276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9755753149639165,
+                    -0.060036509335999445,
+                    0.2113017330260304
+                ],
+                [
+                    -0.18983464483033904,
+                    -0.7144166903552543,
+                    0.6734772454686081
+                ],
+                [
+                    0.11052426183962691,
+                    -0.6971401653100998,
+                    -0.7083642971354589
+                ]
+            ],
+            "translation_vector": [
+                0.6942737089728661,
+                -0.1311714968471365,
+                0.301412624199328
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9793115366306852,
+                    -0.04736385214426314,
+                    0.19673733690406198
+                ],
+                [
+                    -0.17161465436230303,
+                    -0.70955344478753,
+                    0.6834342099999507
+                ],
+                [
+                    0.10722557824583327,
+                    -0.7030580164539808,
+                    -0.7030022054514772
+                ]
+            ],
+            "translation_vector": [
+                0.6867957831863346,
+                -0.12342625470580848,
+                0.3013675078903329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.981292008231611,
+                    -0.03910014799788693,
+                    0.188513057922562
+                ],
+                [
+                    -0.1604295986186778,
+                    -0.7073813645121136,
+                    0.6883850296367799
+                ],
+                [
+                    0.10643466760328521,
+                    -0.7057498023857491,
+                    -0.7004205008169411
+                ]
+            ],
+            "translation_vector": [
+                0.6819854610525516,
+                -0.11848374428688499,
+                0.30104455019424403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9834206593962546,
+                    -0.031209279311816877,
+                    0.17863310879417854
+                ],
+                [
+                    -0.14800164528808016,
+                    -0.7073397366956841,
+                    0.6912061992512086
+                ],
+                [
+                    0.10478224880511536,
+                    -0.7061844502508656,
+                    -0.7002315349648467
+                ]
+            ],
+            "translation_vector": [
+                0.6757046918409231,
+                -0.11231745364984308,
+                0.2990301625464961
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9853286210329256,
+                    -0.025856928519956274,
+                    0.16869774100700582
+                ],
+                [
+                    -0.13737383359205724,
+                    -0.706694257871029,
+                    0.6940545048743197
+                ],
+                [
+                    0.10127160716397612,
+                    -0.7070464236099558,
+                    -0.6998781439956501
+                ]
+            ],
+            "translation_vector": [
+                0.6693174622378247,
+                -0.10563593626503304,
+                0.2971514612321095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.986179064100413,
+                    -0.023217843235409333,
+                    0.16404811881130876
+                ],
+                [
+                    -0.13236597037443656,
+                    -0.7059218190329393,
+                    0.6958114940844682
+                ],
+                [
+                    0.09964990424916173,
+                    -0.7079091164610908,
+                    -0.6992385711718219
+                ]
+            ],
+            "translation_vector": [
+                0.6654136142966984,
+                -0.1014516379909079,
+                0.2959587102752933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9868281239288946,
+                    -0.015843156063246728,
+                    0.16099455962526782
+                ],
+                [
+                    -0.12508746224569445,
+                    -0.7058038784399032,
+                    0.697276137529546
+                ],
+                [
+                    0.1025835299251798,
+                    -0.7082301035575558,
+                    -0.6984888974085013
+                ]
+            ],
+            "translation_vector": [
+                0.6611976593123763,
+                -0.09635505727376063,
+                0.2950433201404506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9876955145041842,
+                    -0.0032478627710131325,
+                    0.156355434877513
+                ],
+                [
+                    -0.11279765305751677,
+                    -0.7073070919234514,
+                    0.6978491005794211
+                ],
+                [
+                    0.10832478983608329,
+                    -0.7068989525400441,
+                    -0.6989703933678145
+                ]
+            ],
+            "translation_vector": [
+                0.6551014684852664,
+                -0.089320871173264,
+                0.29342203936994227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9876889395938918,
+                    0.006262487550923793,
+                    0.156305277753403
+                ],
+                [
+                    -0.10562449176342029,
+                    -0.710330224804667,
+                    0.6958982960667963
+                ],
+                [
+                    0.115386417500558,
+                    -0.7038407156300535,
+                    -0.7009238344340712
+                ]
+            ],
+            "translation_vector": [
+                0.6515419608066866,
+                -0.08409609984347984,
+                0.29165267193223643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9876512788715757,
+                    0.014599779957243134,
+                    0.15598653072794913
+                ],
+                [
+                    -0.09932781466839151,
+                    -0.7116148026485835,
+                    0.695513017767906
+                ],
+                [
+                    0.12115666129661627,
+                    -0.7024181226852122,
+                    -0.7013771056620249
+                ]
+            ],
+            "translation_vector": [
+                0.6484490555618698,
+                -0.07918160211458423,
+                0.29052363610385346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9868292298409247,
+                    0.023896642190387604,
+                    0.15999069230299684
+                ],
+                [
+                    -0.09494158011270587,
+                    -0.7152114720501431,
+                    0.6924295246547262
+                ],
+                [
+                    0.130973919149082,
+                    -0.6984994636647133,
+                    -0.7035228011676934
+                ]
+            ],
+            "translation_vector": [
+                0.6445823183930338,
+                -0.07202939301600537,
+                0.2878746103509098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9859989827364023,
+                    0.030572244645615452,
+                    0.16392481172814777
+                ],
+                [
+                    -0.0923187027178251,
+                    -0.718564632461811,
+                    0.6893055390053967
+                ],
+                [
+                    0.13886418966485886,
+                    -0.6947878862158949,
+                    -0.7056816066728471
+                ]
+            ],
+            "translation_vector": [
+                0.6427824360221708,
+                -0.06845621836231709,
+                0.2865565340887824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9854197536887763,
+                    0.03599300054747154,
+                    0.1662901468865223
+                ],
+                [
+                    -0.0897892556856331,
+                    -0.7201713301732339,
+                    0.6879615866892096
+                ],
+                [
+                    0.1445191980443133,
+                    -0.6928620058194161,
+                    -0.7064392700639764
+                ]
+            ],
+            "translation_vector": [
+                0.6405966480171227,
+                -0.064080222034525,
+                0.28540517695505585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9846389972549136,
+                    0.04128902405429688,
+                    0.169650409894825
+                ],
+                [
+                    -0.08785734917798399,
+                    -0.7225062256405578,
+                    0.6857593164558928
+                ],
+                [
+                    0.15088781024408915,
+                    -0.690130401013663,
+                    -0.7077802613215947
+                ]
+            ],
+            "translation_vector": [
+                0.638013217277056,
+                -0.05913649219205647,
+                0.283583210406886
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9839366744097034,
+                    0.04627644777471451,
+                    0.17241551882857808
+                ],
+                [
+                    -0.08562903984246577,
+                    -0.7251120551084116,
+                    0.6832863053450682
+                ],
+                [
+                    0.15664063421485205,
+                    -0.6870742302821512,
+                    -0.7095017362874869
+                ]
+            ],
+            "translation_vector": [
+                0.6364320264159321,
+                -0.05649614849838617,
+                0.2822327271765986
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9830433586431051,
+                    0.052365445036707814,
+                    0.17573734717979225
+                ],
+                [
+                    -0.08246075609551479,
+                    -0.7297534385355979,
+                    0.6787194874538576
+                ],
+                [
+                    0.16378638139918505,
+                    -0.6817021190458327,
+                    -0.7130611770083839
+                ]
+            ],
+            "translation_vector": [
+                0.6342236760155877,
+                -0.05313740376948497,
+                0.2799780788515021
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9825989489675374,
+                    0.055372934227225765,
+                    0.177293947000338
+                ],
+                [
+                    -0.08079732683809167,
+                    -0.7320583048772501,
+                    0.6764336111075989
+                ],
+                [
+                    0.16724562016301026,
+                    -0.6789878323028441,
+                    -0.7148457358906013
+                ]
+            ],
+            "translation_vector": [
+                0.632141406863816,
+                -0.049896593068055085,
+                0.27812461904323793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9821884908033595,
+                    0.059687662071745994,
+                    0.17816607850493826
+                ],
+                [
+                    -0.0775169085785646,
+                    -0.7350388860644643,
+                    0.6735792194371303
+                ],
+                [
+                    0.17116336470705756,
+                    -0.6753926405947286,
+                    -0.7173199311413548
+                ]
+            ],
+            "translation_vector": [
+                0.6302492905661337,
+                -0.04748232986514691,
+                0.27633088008731344
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9818677896487957,
+                    0.0639883127584593,
+                    0.1784408570942049
+                ],
+                [
+                    -0.07378706381568646,
+                    -0.7380671223318958,
+                    0.6706805440343224
+                ],
+                [
+                    0.17461704631463862,
+                    -0.6716862502411675,
+                    -0.719962824299499
+                ]
+            ],
+            "translation_vector": [
+                0.6283467815566466,
+                -0.04539721162713607,
+                0.2745352419859149
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9814893562166409,
+                    0.0670936242567797,
+                    0.1793797346902199
+                ],
+                [
+                    -0.0712649176869155,
+                    -0.7414206029380281,
+                    0.6672456826732475
+                ],
+                [
+                    0.17776376216912365,
+                    -0.667678017552698,
+                    -0.7229150086534226
+                ]
+            ],
+            "translation_vector": [
+                0.6265596014591265,
+                -0.043433625839258035,
+                0.27242411807657746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.981521027394994,
+                    0.06792014967810393,
+                    0.17889473454850455
+                ],
+                [
+                    -0.06982811419563803,
+                    -0.7432870671928147,
+                    0.6653182473161137
+                ],
+                [
+                    0.17815865752007923,
+                    -0.6655157316033998,
+                    -0.7248091498725958
+                ]
+            ],
+            "translation_vector": [
+                0.624894053478003,
+                -0.04179667290767252,
+                0.2705807019505787
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9816067364235381,
+                    0.06732599890129143,
+                    0.17864888714983418
+                ],
+                [
+                    -0.06967085204651775,
+                    -0.7448929047069166,
+                    0.6635363840004592
+                ],
+                [
+                    0.17774753833187987,
+                    -0.6637784045818576,
+                    -0.72650123346607
+                ]
+            ],
+            "translation_vector": [
+                0.6235348653650851,
+                -0.040401200441976245,
+                0.26871959880571283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9813401565932229,
+                    0.06692074727548562,
+                    0.1802584551184209
+                ],
+                [
+                    -0.07053984549460653,
+                    -0.7468162719002815,
+                    0.661278750771989
+                ],
+                [
+                    0.17887321558910443,
+                    -0.6616547964075042,
+                    -0.7281602180397927
+                ]
+            ],
+            "translation_vector": [
+                0.6227680909717968,
+                -0.03925241974911727,
+                0.2670711688444013
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9811052915415794,
+                    0.06658169248620015,
+                    0.18165705363344997
+                ],
+                [
+                    -0.07140302994310939,
+                    -0.7480323010152657,
+                    0.6598100362625222
+                ],
+                [
+                    0.17981661275882302,
+                    -0.660313982029368,
+                    -0.7291443141878455
+                ]
+            ],
+            "translation_vector": [
+                0.622374111291057,
+                -0.038564144436977775,
+                0.2660911278024365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9803735440980893,
+                    0.06803634612031313,
+                    0.1850372114985219
+                ],
+                [
+                    -0.07229009237559149,
+                    -0.749135308445905,
+                    0.658460653482034
+                ],
+                [
+                    0.18341716543682662,
+                    -0.6589137616154758,
+                    -0.7295140836041919
+                ]
+            ],
+            "translation_vector": [
+                0.6219659060886972,
+                -0.037789081100694046,
+                0.2651859907925196
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.97886232963957,
+                    0.07224504490917849,
+                    0.1913352897367989
+                ],
+                [
+                    -0.07275699064400071,
+                    -0.7513251126166043,
+                    0.6559092890515242
+                ],
+                [
+                    0.19114120415290578,
+                    -0.6559658745984566,
+                    -0.730187517996069
+                ]
+            ],
+            "translation_vector": [
+                0.6216049742230634,
+                -0.036873919058369835,
+                0.2641784941922665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.978005975630953,
+                    0.07502885926982672,
+                    0.1946149580757253
+                ],
+                [
+                    -0.07226620827229947,
+                    -0.753375954884921,
+                    0.6536071187978127
+                ],
+                [
+                    0.19565762640922638,
+                    -0.6532957529923962,
+                    -0.7313841346037017
+                ]
+            ],
+            "translation_vector": [
+                0.6212453383760294,
+                -0.03640820012431063,
+                0.2632915278440987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.977063661534981,
+                    0.07740970153644526,
+                    0.1983792817203829
+                ],
+                [
+                    -0.07226114710317708,
+                    -0.7557865489210899,
+                    0.6508187298236604
+                ],
+                [
+                    0.20031207633887071,
+                    -0.6502264456156701,
+                    -0.7328578589977888
+                ]
+            ],
+            "translation_vector": [
+                0.6209226959902269,
+                -0.03591858609760169,
+                0.26223787056716635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9758708472929538,
+                    0.07908654249300301,
+                    0.20352250047656956
+                ],
+                [
+                    -0.07359310197675666,
+                    -0.7584281408963037,
+                    0.6475884576164215
+                ],
+                [
+                    0.205572723738271,
+                    -0.6469405489634108,
+                    -0.7343076884806188
+                ]
+            ],
+            "translation_vector": [
+                0.6209180083033468,
+                -0.03539658631728354,
+                0.261067727467556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9751057724472859,
+                    0.08018839642741615,
+                    0.2067330491681997
+                ],
+                [
+                    -0.07430893753916339,
+                    -0.7602386138095708,
+                    0.6453800677699173
+                ],
+                [
+                    0.20891843944894486,
+                    -0.6446759427427874,
+                    -0.7353543462215448
+                ]
+            ],
+            "translation_vector": [
+                0.6209076698179952,
+                -0.03509429659000525,
+                0.2602810060328411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9737349735450602,
+                    0.08398458580113179,
+                    0.21162889841185073
+                ],
+                [
+                    -0.07382570399108672,
+                    -0.7628048835744966,
+                    0.6424005565261593
+                ],
+                [
+                    0.21538330187231686,
+                    -0.6411515413244447,
+                    -0.7365695719562867
+                ]
+            ],
+            "translation_vector": [
+                0.6207610642721726,
+                -0.03471108853972269,
+                0.25925019561979645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9728269671798538,
+                    0.08544735710889345,
+                    0.21518931453664913
+                ],
+                [
+                    -0.07398786997620421,
+                    -0.7659506873905255,
+                    0.6386277002936577
+                ],
+                [
+                    0.21939345255506607,
+                    -0.6371956478579298,
+                    -0.7388154162758662
+                ]
+            ],
+            "translation_vector": [
+                0.6206088534928729,
+                -0.03422085956889254,
+                0.2578026974030333
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9722349723463808,
+                    0.08575242393275448,
+                    0.2177284555043051
+                ],
+                [
+                    -0.07441910491504924,
+                    -0.768827712889566,
+                    0.6351108129426254
+                ],
+                [
+                    0.22185796215208484,
+                    -0.633680100431327,
+                    -0.7410995715469466
+                ]
+            ],
+            "translation_vector": [
+                0.6204247350623713,
+                -0.03403179183163858,
+                0.25633178300955206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9719145465208053,
+                    0.08620070357679104,
+                    0.21897843036272682
+                ],
+                [
+                    -0.07426532015418187,
+                    -0.7706072999673425,
+                    0.6329684442841043
+                ],
+                [
+                    0.2233087022121043,
+                    -0.631453741726113,
+                    -0.7425627216447357
+                ]
+            ],
+            "translation_vector": [
+                0.6200847848376405,
+                -0.033959548166970575,
+                0.2552869875396068
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9716950824977186,
+                    0.08594021091638764,
+                    0.2200521456323452
+                ],
+                [
+                    -0.07409281869953417,
+                    -0.7736166238176961,
+                    0.629307217160321
+                ],
+                [
+                    0.2243187929418978,
+                    -0.6277990120257887,
+                    -0.745351916635715
+                ]
+            ],
+            "translation_vector": [
+                0.619582251774491,
+                -0.03402417064702345,
+                0.25359663427314894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9717304777642511,
+                    0.08525528271053608,
+                    0.22016224779468216
+                ],
+                [
+                    -0.07415693932827214,
+                    -0.7751102258853265,
+                    0.6274590712368906
+                ],
+                [
+                    0.22414421012714875,
+                    -0.6260476615226233,
+                    -0.7468759592921249
+                ]
+            ],
+            "translation_vector": [
+                0.6191355538233346,
+                -0.034067108904215423,
+                0.25257066589011157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9717797839931035,
+                    0.08469826245574802,
+                    0.22015961427858216
+                ],
+                [
+                    -0.07433847324539103,
+                    -0.7757973889664597,
+                    0.6265877453863646
+                ],
+                [
+                    0.22387014722347673,
+                    -0.6252716334600514,
+                    -0.7476078795547421
+                ]
+            ],
+            "translation_vector": [
+                0.6188976531540877,
+                -0.03419862140938448,
+                0.25207175475592025
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.971857456748783,
+                    0.08429623216389202,
+                    0.21997097309590327
+                ],
+                [
+                    -0.07422115773524307,
+                    -0.7766516547037382,
+                    0.6255425061419773
+                ],
+                [
+                    0.22357169656785175,
+                    -0.6242646493987279,
+                    -0.7485381379761862
+                ]
+            ],
+            "translation_vector": [
+                0.6182510253337322,
+                -0.034813055190852954,
+                0.251556722565521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9717793847063636,
+                    0.08514882684174584,
+                    0.21998751043456066
+                ],
+                [
+                    -0.07335163723395517,
+                    -0.7772695289813965,
+                    0.6248772812577974
+                ],
+                [
+                    0.22419715603642215,
+                    -0.6233793039590846,
+                    -0.7490886987671538
+                ]
+            ],
+            "translation_vector": [
+                0.6177107199856368,
+                -0.035425691796541606,
+                0.25152003175246684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9715077622933451,
+                    0.08781491738975811,
+                    0.22013906533736247
+                ],
+                [
+                    -0.07107280876918003,
+                    -0.7781377338963014,
+                    0.6240595507965475
+                ],
+                [
+                    0.22610025134315348,
+                    -0.6219245994254924,
+                    -0.7497255957828866
+                ]
+            ],
+            "translation_vector": [
+                0.6169831437578847,
+                -0.036545771242500164,
+                0.25194215335128417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9710254404520674,
+                    0.09069303439402565,
+                    0.22109809476174425
+                ],
+                [
+                    -0.06922552869062097,
+                    -0.7787729620612698,
+                    0.6234745381648078
+                ],
+                [
+                    0.22873001589728711,
+                    -0.6207152705345024,
+                    -0.7499300852432225
+                ]
+            ],
+            "translation_vector": [
+                0.6166109777417236,
+                -0.03819032238926633,
+                0.2532371273524079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9709372673985857,
+                    0.09166243077357412,
+                    0.2210855525837176
+                ],
+                [
+                    -0.06855105716242,
+                    -0.7785409360453135,
+                    0.6238387319360686
+                ],
+                [
+                    0.22930672763458693,
+                    -0.6208639220363568,
+                    -0.7496308524701677
+                ]
+            ],
+            "translation_vector": [
+                0.6164956657110368,
+                -0.039970080342278426,
+                0.25499814296752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.970734865664505,
+                    0.09265609846743544,
+                    0.22155962628626336
+                ],
+                [
+                    -0.06828789253716887,
+                    -0.7779929985482157,
+                    0.6245507649044939
+                ],
+                [
+                    0.23024027518257503,
+                    -0.6214030428206392,
+                    -0.74889763923857
+                ]
+            ],
+            "translation_vector": [
+                0.6166847625660958,
+                -0.04221515115802398,
+                0.25749827083835997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9703206459600338,
+                    0.09253457392708014,
+                    0.2234170912258883
+                ],
+                [
+                    -0.07108285386713359,
+                    -0.7739327915691993,
+                    0.6292656529797337
+                ],
+                [
+                    0.23113864218214766,
+                    -0.6264705793267874,
+                    -0.7443853446489613
+                ]
+            ],
+            "translation_vector": [
+                0.6181860270399064,
+                -0.04534199204642485,
+                0.2632790847038401
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9689939444226775,
+                    0.09537696260179414,
+                    0.22793413670847393
+                ],
+                [
+                    -0.07281255662118234,
+                    -0.7713054043894075,
+                    0.632286568541496
+                ],
+                [
+                    0.236112403889479,
+                    -0.6292783232914897,
+                    -0.7404456256640208
+                ]
+            ],
+            "translation_vector": [
+                0.6197331365568325,
+                -0.0474413171486934,
+                0.2675751997846111
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9658201285066679,
+                    0.1020582098931748,
+                    0.23827631263884405
+                ],
+                [
+                    -0.07566790462404596,
+                    -0.7681869655773975,
+                    0.6357382748637969
+                ],
+                [
+                    0.24792306786817922,
+                    -0.6320386916244851,
+                    -0.7342079029188118
+                ]
+            ],
+            "translation_vector": [
+                0.6228213846573152,
+                -0.050759355222487625,
+                0.2743117465669475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9624294753295088,
+                    0.1071980997332971,
+                    0.2494755948595709
+                ],
+                [
+                    -0.08058433156063541,
+                    -0.7646150995372641,
+                    0.6394293667533151
+                ],
+                [
+                    0.2592984198252897,
+                    -0.6355094940071234,
+                    -0.727249621865091
+                ]
+            ],
+            "translation_vector": [
+                0.6267915553343844,
+                -0.05412943177762566,
+                0.2815709419622034
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9600980536927292,
+                    0.10992739497112833,
+                    0.25715305778912206
+                ],
+                [
+                    -0.08526242202382794,
+                    -0.7606774319451416,
+                    0.6435061490925907
+                ],
+                [
+                    0.2663494822335209,
+                    -0.6397544938210332,
+                    -0.7209522459565053
+                ]
+            ],
+            "translation_vector": [
+                0.6299131092996905,
+                -0.056014190273962025,
+                0.2868069640210801
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9562922649813644,
+                    0.1156973819793675,
+                    0.268550218283159
+                ],
+                [
+                    -0.09097690841348571,
+                    -0.7550932142557449,
+                    0.6492745489547946
+                ],
+                [
+                    0.27789981301241684,
+                    -0.6453280976279031,
+                    -0.7115640100086679
+                ]
+            ],
+            "translation_vector": [
+                0.6343237049386146,
+                -0.05823992415890005,
+                0.29397722103816315
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.950166721012937,
+                    0.12196180644151673,
+                    0.28689461488331536
+                ],
+                [
+                    -0.10136949945796202,
+                    -0.7494053590214627,
+                    0.6543056108956696
+                ],
+                [
+                    0.2948006561376112,
+                    -0.6507817803530114,
+                    -0.6996968254189804
+                ]
+            ],
+            "translation_vector": [
+                0.6408142278457772,
+                -0.06106108422033232,
+                0.3023966393736143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.945854870633544,
+                    0.12532813888926128,
+                    0.29941847187732984
+                ],
+                [
+                    -0.10952332072207493,
+                    -0.7451255044802326,
+                    0.657869762788265
+                ],
+                [
+                    0.3055539329100689,
+                    -0.6550426247013492,
+                    -0.6910542336948354
+                ]
+            ],
+            "translation_vector": [
+                0.6451319834914223,
+                -0.0625607629397195,
+                0.30776815187178824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9378414224338449,
+                    0.13288636919327929,
+                    0.32061609324843615
+                ],
+                [
+                    -0.12141170517076483,
+                    -0.7398073982597698,
+                    0.6617735347742739
+                ],
+                [
+                    0.32513484005069293,
+                    -0.6595651797682602,
+                    -0.6776880620333168
+                ]
+            ],
+            "translation_vector": [
+                0.6513253553154164,
+                -0.06436600574888354,
+                0.31530700871236117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9242670716556348,
+                    0.1434934674697033,
+                    0.3537513322188895
+                ],
+                [
+                    -0.14121510542843427,
+                    -0.7324147864726687,
+                    0.6660532070000351
+                ],
+                [
+                    0.35466699064327106,
+                    -0.6655660788755063,
+                    -0.6566834247933547
+                ]
+            ],
+            "translation_vector": [
+                0.6605577581875243,
+                -0.06634590722627633,
+                0.3260284305057985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9127455850974455,
+                    0.15322228656223105,
+                    0.37870625527678264
+                ],
+                [
+                    -0.1551632933730499,
+                    -0.7275138103216364,
+                    0.6683172960360394
+                ],
+                [
+                    0.3779151350167798,
+                    -0.6687649711908779,
+                    -0.640260543867349
+                ]
+            ],
+            "translation_vector": [
+                0.6669047089337439,
+                -0.0671544762139742,
+                0.3334479422292581
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.892343211187732,
+                    0.17123848327801566,
+                    0.4176134280549553
+                ],
+                [
+                    -0.1745096082799446,
+                    -0.7223948970006576,
+                    0.6690979071895156
+                ],
+                [
+                    0.4162571201374782,
+                    -0.6699425308427985,
+                    -0.6147414214958994
+                ]
+            ],
+            "translation_vector": [
+                0.6756064431399776,
+                -0.06779359896389155,
+                0.3436637992917071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8664254319066251,
+                    0.19758458792335576,
+                    0.4585491266599202
+                ],
+                [
+                    -0.18910907444987513,
+                    -0.7200988345314716,
+                    0.6676042438953843
+                ],
+                [
+                    0.46210900110918574,
+                    -0.6651450962922104,
+                    -0.5865469051766421
+                ]
+            ],
+            "translation_vector": [
+                0.6837654617921826,
+                -0.06741137816066603,
+                0.3536773141613739
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8442286206434648,
+                    0.2159499455023875,
+                    0.4905544384917426
+                ],
+                [
+                    -0.2038130578159146,
+                    -0.7171457974369271,
+                    0.6664549067133355
+                ],
+                [
+                    0.4957199547629283,
+                    -0.6626217067498394,
+                    -0.5614215886424128
+                ]
+            ],
+            "translation_vector": [
+                0.690396468242954,
+                -0.06623806611294927,
+                0.36181615265162415
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.824234112976915,
+                    0.2314729365781114,
+                    0.516776940891391
+                ],
+                [
+                    -0.21628284925378716,
+                    -0.714742204629995,
+                    0.665105487903474
+                ],
+                [
+                    0.5233162104538921,
+                    -0.6599726210628439,
+                    -0.5390512807921133
+                ]
+            ],
+            "translation_vector": [
+                0.6955050096677041,
+                -0.06485664434299587,
+                0.3683150104324621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7951981682116717,
+                    0.25010686267972115,
+                    0.5523644001140091
+                ],
+                [
+                    -0.23716908253456842,
+                    -0.7100943247192988,
+                    0.6629606898535949
+                ],
+                [
+                    0.558041843917204,
+                    -0.6581888841677217,
+                    -0.5053480911169415
+                ]
+            ],
+            "translation_vector": [
+                0.7026477512793706,
+                -0.06185366366172261,
+                0.37718662540307835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7828372170955014,
+                    0.2556834856688146,
+                    0.5672669977060327
+                ],
+                [
+                    -0.2502912231767218,
+                    -0.7052667076225891,
+                    0.6632896612490611
+                ],
+                [
+                    0.5696667404113316,
+                    -0.6612297832640623,
+                    -0.48811369433123863
+                ]
+            ],
+            "translation_vector": [
+                0.7061650842732841,
+                -0.059830529787547604,
+                0.38158749775381623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7649619455167702,
+                    0.2666691553861383,
+                    0.586277053513816
+                ],
+                [
+                    -0.26395934423126977,
+                    -0.7005067077199707,
+                    0.6630353060224818
+                ],
+                [
+                    0.5875020736169332,
+                    -0.6619500842246127,
+                    -0.46547115860258437
+                ]
+            ],
+            "translation_vector": [
+                0.709978008017736,
+                -0.057136448106257794,
+                0.3869657531384851
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7407055021063905,
+                    0.27957060393512007,
+                    0.6108974026501278
+                ],
+                [
+                    -0.2803343547244787,
+                    -0.6977434991904891,
+                    0.659216701016155
+                ],
+                [
+                    0.6105473025986851,
+                    -0.6595409666978731,
+                    -0.4384492040552762
+                ]
+            ],
+            "translation_vector": [
+                0.714839783015098,
+                -0.05400861262060469,
+                0.3928175860364407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7285099354401203,
+                    0.28598997772395984,
+                    0.62248133032765
+                ],
+                [
+                    -0.2889459382215502,
+                    -0.6956105545887852,
+                    0.6577508655486142
+                ],
+                [
+                    0.6211147387965448,
+                    -0.6590414926134256,
+                    -0.4241235577795324
+                ]
+            ],
+            "translation_vector": [
+                0.717431838747488,
+                -0.05185110553487649,
+                0.39619521454517675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7108735268759332,
+                    0.2960461177391149,
+                    0.6379776837465165
+                ],
+                [
+                    -0.30137201407251135,
+                    -0.6913802880212844,
+                    0.6566339973451605
+                ],
+                [
+                    0.6354791404293695,
+                    -0.6590523450433996,
+                    -0.40226392899680397
+                ]
+            ],
+            "translation_vector": [
+                0.7207180112342633,
+                -0.048454918504560233,
+                0.40087483960977416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6901125046400277,
+                    0.30904046189956996,
+                    0.6543995139426435
+                ],
+                [
+                    -0.3123805732307638,
+                    -0.6884602172795521,
+                    0.6545539753843155
+                ],
+                [
+                    0.6528116944475543,
+                    -0.6561375786618933,
+                    -0.37857676825212166
+                ]
+            ],
+            "translation_vector": [
+                0.7238670424183593,
+                -0.04466961792608675,
+                0.4059723465431894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6800106129354808,
+                    0.3149483997461353,
+                    0.662112582415151
+                ],
+                [
+                    -0.31771833070373084,
+                    -0.6872781110592674,
+                    0.6532257346382182
+                ],
+                [
+                    0.6607878847481591,
+                    -0.6545657366194428,
+                    -0.3672915297333987
+                ]
+            ],
+            "translation_vector": [
+                0.725384346108153,
+                -0.042419145597754754,
+                0.40820053389278077
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6701770797604955,
+                    0.3216923112585737,
+                    0.6688622718025077
+                ],
+                [
+                    -0.3213301251696017,
+                    -0.6865909776369674,
+                    0.6521807878847717
+                ],
+                [
+                    0.6690363461144565,
+                    -0.6520022134200393,
+                    -0.3567681057398305
+                ]
+            ],
+            "translation_vector": [
+                0.7266779368214744,
+                -0.039321575081355274,
+                0.40952736805375717
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6638653036525645,
+                    0.3277783101689861,
+                    0.6721936015680691
+                ],
+                [
+                    -0.32309930722578745,
+                    -0.6849088714166802,
+                    0.653074785552884
+                ],
+                [
+                    0.6744551106459972,
+                    -0.650738977807149,
+                    -0.348782290958131
+                ]
+            ],
+            "translation_vector": [
+                0.727395820336647,
+                -0.03596414142613032,
+                0.4105042637008468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6584412904933383,
+                    0.33227094400801577,
+                    0.675315546053465
+                ],
+                [
+                    -0.323937373365404,
+                    -0.6847955424949557,
+                    0.6527784027647995
+                ],
+                [
+                    0.6793523718296642,
+                    -0.6485761981040176,
+                    -0.34326268387686426
+                ]
+            ],
+            "translation_vector": [
+                0.7281202926883983,
+                -0.03408294387411059,
+                0.4112169082795566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6525954774956131,
+                    0.3371557537318276,
+                    0.6785610808746667
+                ],
+                [
+                    -0.3233697924301196,
+                    -0.6859655859908532,
+                    0.6518306468553982
+                ],
+                [
+                    0.6852380025188141,
+                    -0.6448078881044715,
+                    -0.33863205303437727
+                ]
+            ],
+            "translation_vector": [
+                0.7286685004314876,
+                -0.03299242277594054,
+                0.411754893046435
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6451055855096178,
+                    0.3458995265451532,
+                    0.6813165938681753
+                ],
+                [
+                    -0.3190598234542537,
+                    -0.6882657463110455,
+                    0.6515298086137272
+                ],
+                [
+                    0.6942907262823216,
+                    -0.6376862708187611,
+                    -0.3336414353877945
+                ]
+            ],
+            "translation_vector": [
+                0.7287875874816818,
+                -0.03108617333335076,
+                0.4118954435957091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6418774089518973,
+                    0.35019296813882383,
+                    0.6821717356672877
+                ],
+                [
+                    -0.3164768467088814,
+                    -0.6893385953038794,
+                    0.6516553586994264
+                ],
+                [
+                    0.6984524302874193,
+                    -0.6341744129895147,
+                    -0.3316429051479957
+                ]
+            ],
+            "translation_vector": [
+                0.728819290701866,
+                -0.03000190573193981,
+                0.41191272001614365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.639214886439481,
+                    0.3537667389916344,
+                    0.6828275209285187
+                ],
+                [
+                    -0.31490927597861906,
+                    -0.6896423308952895,
+                    0.6520932474270333
+                ],
+                [
+                    0.7015956647933222,
+                    -0.6318564313358989,
+                    -0.32942521658591856
+                ]
+            ],
+            "translation_vector": [
+                0.7289476666617762,
+                -0.02927522645086226,
+                0.412363166277412
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.635216348096168,
+                    0.35791388852095923,
+                    0.6843959669045209
+                ],
+                [
+                    -0.3132665490067281,
+                    -0.6905727323313324,
+                    0.6518998164088199
+                ],
+                [
+                    0.7059491910787793,
+                    -0.6284957834100753,
+                    -0.3265406404277619
+                ]
+            ],
+            "translation_vector": [
+                0.7291463821572579,
+                -0.030334306612265306,
+                0.41355931700063975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6296551522959466,
+                    0.3640530050643981,
+                    0.6862942508070059
+                ],
+                [
+                    -0.3094440808877378,
+                    -0.6927698792116054,
+                    0.6513940859884138
+                ],
+                [
+                    0.7125859597204476,
+                    -0.6225233360772262,
+                    -0.32355207625445626
+                ]
+            ],
+            "translation_vector": [
+                0.7286197239759694,
+                -0.03284058485028236,
+                0.41506718457078406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6258749979054516,
+                    0.36835763489755985,
+                    0.6874541001474401
+                ],
+                [
+                    -0.3065287494609913,
+                    -0.694328840748715,
+                    0.6511125760253953
+                ],
+                [
+                    0.7171614969800955,
+                    -0.6182395277861334,
+                    -0.3216508565697393
+                ]
+            ],
+            "translation_vector": [
+                0.7279964847735397,
+                -0.03579079695986938,
+                0.4166303383091063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6205460275896048,
+                    0.37460049031035636,
+                    0.6889100814344369
+                ],
+                [
+                    -0.30235340331199895,
+                    -0.6962948539329459,
+                    0.6509653569063024
+                ],
+                [
+                    0.723536486397482,
+                    -0.6122482740243036,
+                    -0.3188212725114938
+                ]
+            ],
+            "translation_vector": [
+                0.7268741718693601,
+                -0.0411664536735313,
+                0.41910486469806757
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.618039864399294,
+                    0.3786133608455868,
+                    0.6889692656443478
+                ],
+                [
+                    -0.29816504788640014,
+                    -0.6980160931720405,
+                    0.6510538671198738
+                ],
+                [
+                    0.7274093278424488,
+                    -0.6078037978345077,
+                    -0.31851250070561765
+                ]
+            ],
+            "translation_vector": [
+                0.7258741863435824,
+                -0.045620366192283,
+                0.4203291717782902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6155912260920016,
+                    0.3824432722051478,
+                    0.6890461420714625
+                ],
+                [
+                    -0.29481753566927466,
+                    -0.6991017611693106,
+                    0.6514133466485507
+                ],
+                [
+                    0.7308420232994561,
+                    -0.6041472263240046,
+                    -0.31760992727647797
+                ]
+            ],
+            "translation_vector": [
+                0.7250206000563184,
+                -0.04949499015020752,
+                0.42143742308539817
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6104791808484478,
+                    0.3899510001453272,
+                    0.6893862395176357
+                ],
+                [
+                    -0.2847258948078799,
+                    -0.7041658260499154,
+                    0.6504472724589533
+                ],
+                [
+                    0.73908479525455,
+                    -0.5933706319907472,
+                    -0.31884942922081705
+                ]
+            ],
+            "translation_vector": [
+                0.7233938757587507,
+                -0.0574932602782189,
+                0.4225021111692066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6087181736873117,
+                    0.39371044333558536,
+                    0.688806410997517
+                ],
+                [
+                    -0.2779359404869397,
+                    -0.7073495285879738,
+                    0.6499294249316699
+                ],
+                [
+                    0.7431108921341576,
+                    -0.5870679102240796,
+                    -0.32115023085264643
+                ]
+            ],
+            "translation_vector": [
+                0.7223280793017005,
+                -0.06244676915332949,
+                0.42275386400480597
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6081849786935704,
+                    0.3985861184384304,
+                    0.6864693277049511
+                ],
+                [
+                    -0.2712527584521521,
+                    -0.7083806099618566,
+                    0.6516278481327873
+                ],
+                [
+                    0.7460113757333733,
+                    -0.5825169676655385,
+                    -0.3227088620694296
+                ]
+            ],
+            "translation_vector": [
+                0.7206878755593648,
+                -0.06817074146948313,
+                0.4237157162076759
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6057797595694085,
+                    0.40339019008903576,
+                    0.6857894993625677
+                ],
+                [
+                    -0.2642811203146625,
+                    -0.7109836626313696,
+                    0.651657671570365
+                ],
+                [
+                    0.7504574420586797,
+                    -0.5760022447970273,
+                    -0.32409110084593334
+                ]
+            ],
+            "translation_vector": [
+                0.7191144149696042,
+                -0.07593649706640211,
+                0.4250830481180282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6034364036027927,
+                    0.40983585214277285,
+                    0.6840314913111345
+                ],
+                [
+                    -0.25664384181693095,
+                    -0.7123548897357564,
+                    0.6532108767672234
+                ],
+                [
+                    0.754982413877551,
+                    -0.5697236921244945,
+                    -0.3246790251427719
+                ]
+            ],
+            "translation_vector": [
+                0.7170869307403155,
+                -0.08299189010213728,
+                0.4264566142852287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6012289524085536,
+                    0.41305554723306154,
+                    0.6840386404916827
+                ],
+                [
+                    -0.2513085247812011,
+                    -0.7148577301413205,
+                    0.6525507267864281
+                ],
+                [
+                    0.7585300074209391,
+                    -0.5642371314945476,
+                    -0.3259887839861901
+                ]
+            ],
+            "translation_vector": [
+                0.7159979904365253,
+                -0.08821830131399425,
+                0.4271479766074958
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5982658512231791,
+                    0.41682053570222466,
+                    0.6843526958207409
+                ],
+                [
+                    -0.24464413695268333,
+                    -0.7182623465265805,
+                    0.6513435712562204
+                ],
+                [
+                    0.7630381494492144,
+                    -0.5570994907366557,
+                    -0.3277391339252568
+                ]
+            ],
+            "translation_vector": [
+                0.7146232187573951,
+                -0.09465871409473162,
+                0.4277629757500761
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5934926020679521,
+                    0.4231595307518119,
+                    0.6846185381835042
+                ],
+                [
+                    -0.23731428557896286,
+                    -0.7208013497603051,
+                    0.6512506000334041
+                ],
+                [
+                    0.7690568647055679,
+                    -0.5489821724952721,
+                    -0.3273684669170399
+                ]
+            ],
+            "translation_vector": [
+                0.7129054507183447,
+                -0.10042566872593604,
+                0.4286934706581919
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5890420493009958,
+                    0.4272893160132147,
+                    0.6858959867037006
+                ],
+                [
+                    -0.2334859896893694,
+                    -0.7225828692381271,
+                    0.6506598878848855
+                ],
+                [
+                    0.7736367085228436,
+                    -0.5434131370371491,
+                    -0.3258656252527806
+                ]
+            ],
+            "translation_vector": [
+                0.7120161304630077,
+                -0.10399782250353473,
+                0.4294702183289933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5814130913389344,
+                    0.4354461946394847,
+                    0.6872739110381655
+                ],
+                [
+                    -0.22613217111705208,
+                    -0.7249533769290051,
+                    0.6506203520219147
+                ],
+                [
+                    0.7815516991252673,
+                    -0.5336939318122554,
+                    -0.32302899055840734
+                ]
+            ],
+            "translation_vector": [
+                0.7103207328310149,
+                -0.10857430474841996,
+                0.4304364625637946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5709732403778845,
+                    0.44527333470240704,
+                    0.6897254643518514
+                ],
+                [
+                    -0.21548362954213,
+                    -0.7293962862887758,
+                    0.6492671737794022
+                ],
+                [
+                    0.7921845518386034,
+                    -0.5193387285299843,
+                    -0.3205166468018951
+                ]
+            ],
+            "translation_vector": [
+                0.7084894843583964,
+                -0.11314413118031766,
+                0.4305880378711325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5522212333458423,
+                    0.46556214814490454,
+                    0.6915949650313391
+                ],
+                [
+                    -0.19283930287341863,
+                    -0.7357252557013556,
+                    0.6492467569348876
+                ],
+                [
+                    0.8110885973241709,
+                    -0.4918945357877817,
+                    -0.3165044280145731
+                ]
+            ],
+            "translation_vector": [
+                0.7052392532507687,
+                -0.11613339410301318,
+                0.42884506882107276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5420031700054099,
+                    0.48020672708179063,
+                    0.6896622818231268
+                ],
+                [
+                    -0.17414986508135177,
+                    -0.7386635246570827,
+                    0.651189697272095
+                ],
+                [
+                    0.8221340451509318,
+                    -0.47305147352753335,
+                    -0.3167300351990566
+                ]
+            ],
+            "translation_vector": [
+                0.7021278195556241,
+                -0.11792034985441334,
+                0.42666411277250316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.536866720117462,
+                    0.4877497830890406,
+                    0.6883852656230465
+                ],
+                [
+                    -0.16361670112414406,
+                    -0.7402595672943084,
+                    0.6521083868058251
+                ],
+                [
+                    0.8276495030769794,
+                    -0.4627266170492431,
+                    -0.3176167154458215
+                ]
+            ],
+            "translation_vector": [
+                0.6999197350570991,
+                -0.11962878204082032,
+                0.42486104937101465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.52628517362032,
+                    0.5014815777603333,
+                    0.6866878062077676
+                ],
+                [
+                    -0.14934083616523253,
+                    -0.740509054968618,
+                    0.65524320230198
+                ],
+                [
+                    0.8370909333405178,
+                    -0.4473953136505691,
+                    -0.31482725841738984
+                ]
+            ],
+            "translation_vector": [
+                0.6963712250638036,
+                -0.12056301559227506,
+                0.42195860176761846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5147985183889174,
+                    0.5122056150286887,
+                    0.6874793767071552
+                ],
+                [
+                    -0.1381914069481388,
+                    -0.7418377934611683,
+                    0.6561858145665442
+                ],
+                [
+                    0.846100242589653,
+                    -0.43280722744167316,
+                    -0.3111145823711618
+                ]
+            ],
+            "translation_vector": [
+                0.6941127645863503,
+                -0.12107174381178326,
+                0.41957788359017595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5018258895505232,
+                    0.5237608170857004,
+                    0.6883642807863768
+                ],
+                [
+                    -0.12696824139802323,
+                    -0.7426004424375993,
+                    0.6575892704171623
+                ],
+                [
+                    0.8555991130506856,
+                    -0.4173957227586333,
+                    -0.3061551377482972
+                ]
+            ],
+            "translation_vector": [
+                0.6918590938891631,
+                -0.12124859335200763,
+                0.41729267651091395
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.4861098122853271,
+                    0.5365379077669072,
+                    0.6898002058052994
+                ],
+                [
+                    -0.1155461405873276,
+                    -0.7429463650497384,
+                    0.6593025011743502
+                ],
+                [
+                    0.8662253400791837,
+                    -0.4001971666422568,
+                    -0.299158633531129
+                ]
+            ],
+            "translation_vector": [
+                0.689543865110589,
+                -0.12093861335153566,
+                0.41475048920123314
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.4749922952146513,
+                    0.5462466569877736,
+                    0.6899252924892658
+                ],
+                [
+                    -0.10764840257154029,
+                    -0.7420582366372531,
+                    0.6616353942033376
+                ],
+                [
+                    0.8733808681843868,
+                    -0.38854107011806616,
+                    -0.29366936496848783
+                ]
+            ],
+            "translation_vector": [
+                0.6876283754906574,
+                -0.12015942453437968,
+                0.4127107674156837
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.45837139133443106,
+                    0.5593232055960841,
+                    0.6906903932210577
+                ],
+                [
+                    -0.09740981069584745,
+                    -0.7408404419412591,
+                    0.6645801444253957
+                ],
+                [
+                    0.883406472913991,
+                    -0.3719045459066093,
+                    -0.28509649655452046
+                ]
+            ],
+            "translation_vector": [
+                0.6855265740343488,
+                -0.11885230411965728,
+                0.4104939888718334
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.43863880736563876,
+                    0.5759853875884576,
+                    0.6898092707099724
+                ],
+                [
+                    -0.08143967058688946,
+                    -0.7389585053831791,
+                    0.6688108158340119
+                ],
+                [
+                    0.8949656846648082,
+                    -0.3495442183850735,
+                    -0.27722781726590684
+                ]
+            ],
+            "translation_vector": [
+                0.6828471002900787,
+                -0.11688306630727315,
+                0.40733652255736885
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.42715891471369233,
+                    0.5887983245127502,
+                    0.6861864139077651
+                ],
+                [
+                    -0.06819818439961113,
+                    -0.7357649182860412,
+                    0.6737944736075918
+                ],
+                [
+                    0.901600947883939,
+                    -0.33461398367449213,
+                    -0.2741335672701713
+                ]
+            ],
+            "translation_vector": [
+                0.6801866435817557,
+                -0.1144094134113321,
+                0.4038941142977101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.4190447671110952,
+                    0.5963064529400087,
+                    0.6847043868261057
+                ],
+                [
+                    -0.058872121848464146,
+                    -0.7346770870208688,
+                    0.6758577151113915
+                ],
+                [
+                    0.906054941174026,
+                    -0.3235246389204944,
+                    -0.2727567626760081
+                ]
+            ],
+            "translation_vector": [
+                0.6785303933993181,
+                -0.11299400249800909,
+                0.4010313088967897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.4045720921468584,
+                    0.6082267719783387,
+                    0.6829213835462495
+                ],
+                [
+                    -0.04169200152711266,
+                    -0.7337217294970099,
+                    0.6781697432594437
+                ],
+                [
+                    0.9135552524421153,
+                    -0.30284091122687906,
+                    -0.271485143650065
+                ]
+            ],
+            "translation_vector": [
+                0.6760750732909928,
+                -0.1109873364638336,
+                0.39620724280117264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3941719600026871,
+                    0.6153914759333997,
+                    0.6825846447849178
+                ],
+                [
+                    -0.029750417584131713,
+                    -0.7337841859787129,
+                    0.6787309342155609
+                ],
+                [
+                    0.9185550493036387,
+                    -0.28784388087307006,
+                    -0.2709289974194717
+                ]
+            ],
+            "translation_vector": [
+                0.6747767047126333,
+                -0.10995556433873954,
+                0.39305880494064893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3835919410801368,
+                    0.6223138816426894,
+                    0.6823361748091494
+                ],
+                [
+                    -0.01697857451206572,
+                    -0.7339795448978893,
+                    0.6789593181325566
+                ],
+                [
+                    0.9233466037983308,
+                    -0.2720284183431885,
+                    -0.2709826357311335
+                ]
+            ],
+            "translation_vector": [
+                0.6736237897752821,
+                -0.10869259719794544,
+                0.3895980909332894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3738032816758582,
+                    0.628404813189839,
+                    0.6821865561327068
+                ],
+                [
+                    -0.0057266090339695265,
+                    -0.7339270726684328,
+                    0.6792041357009816
+                ],
+                [
+                    0.9274903301691784,
+                    -0.25779535054804387,
+                    -0.27074571959401345
+                ]
+            ],
+            "translation_vector": [
+                0.6725342439752307,
+                -0.10666605458199797,
+                0.3857998554768404
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.365048128399279,
+                    0.6311708069294633,
+                    0.6843707156448134
+                ],
+                [
+                    0.00019262713205116423,
+                    -0.7351522220087575,
+                    0.6779020381813106
+                ],
+                [
+                    0.9309886287420335,
+                    -0.24733504190792946,
+                    -0.26848752335524145
+                ]
+            ],
+            "translation_vector": [
+                0.6724311536633486,
+                -0.10554860892187772,
+                0.3836972733865493
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3563387266004277,
+                    0.6321067747241884,
+                    0.6880870128643398
+                ],
+                [
+                    0.0042927838291298625,
+                    -0.7375282908277032,
+                    0.6753025930912481
+                ],
+                [
+                    0.9343469826203659,
+                    -0.2376826572902437,
+                    -0.26552338972615314
+                ]
+            ],
+            "translation_vector": [
+                0.6728223565940955,
+                -0.10488631742898111,
+                0.3820071955366701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3450080360541544,
+                    0.6313447183314753,
+                    0.6945309940477856
+                ],
+                [
+                    0.008745206470425983,
+                    -0.7420951727747424,
+                    0.6702374772483368
+                ],
+                [
+                    0.9385589893138548,
+                    -0.22516349877228156,
+                    -0.2615500380401041
+                ]
+            ],
+            "translation_vector": [
+                0.6739773334300964,
+                -0.10458087312537016,
+                0.38028121402267745
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.33441381428448225,
+                    0.6279428362806379,
+                    0.7027483156717861
+                ],
+                [
+                    0.012781353182583152,
+                    -0.7486331979638504,
+                    0.6628612010951016
+                ],
+                [
+                    0.9423396616011268,
+                    -0.21268786817833954,
+                    -0.25837924240005694
+                ]
+            ],
+            "translation_vector": [
+                0.6758279795031619,
+                -0.10464050682140325,
+                0.3785706291863361
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.32507812839778244,
+                    0.6233596758835034,
+                    0.7111588605366654
+                ],
+                [
+                    0.016446733862440173,
+                    -0.7556150882109369,
+                    0.6548093947197429
+                ],
+                [
+                    0.9455441371943738,
+                    -0.20116797197961606,
+                    -0.25588616935456976
+                ]
+            ],
+            "translation_vector": [
+                0.6778752541631096,
+                -0.10500639689108374,
+                0.3770497225391205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3118527311918399,
+                    0.6176090660525456,
+                    0.7220158693393746
+                ],
+                [
+                    0.023078116900692613,
+                    -0.7646119203344083,
+                    0.6440776442346424
+                ],
+                [
+                    0.9498501326885775,
+                    -0.1841946058174101,
+                    -0.25269956988341097
+                ]
+            ],
+            "translation_vector": [
+                0.6805840523652252,
+                -0.10552212110251658,
+                0.37496183295436136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3045200985617474,
+                    0.613883305198802,
+                    0.7282958170758213
+                ],
+                [
+                    0.029243664861644314,
+                    -0.7702754112062385,
+                    0.6370405002482338
+                ],
+                [
+                    0.9520568878157458,
+                    -0.17269359712871435,
+                    -0.2525165417816066
+                ]
+            ],
+            "translation_vector": [
+                0.682190604577458,
+                -0.1058458292104442,
+                0.3731353852204577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.297127082062015,
+                    0.6080296885050103,
+                    0.7362169483255689
+                ],
+                [
+                    0.03702467936808627,
+                    -0.7777954367171579,
+                    0.6274260368678178
+                ],
+                [
+                    0.9541198405981313,
+                    -0.15916707108716383,
+                    -0.253616192816095
+                ]
+            ],
+            "translation_vector": [
+                0.684291923959259,
+                -0.10629601940460924,
+                0.3705532115766074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2877421489677977,
+                    0.5966223733282352,
+                    0.7491636665986797
+                ],
+                [
+                    0.050271861252932544,
+                    -0.7905774554502358,
+                    0.6102950326686236
+                ],
+                [
+                    0.9563875760765401,
+                    -0.13794575230145512,
+                    -0.2574757731290966
+                ]
+            ],
+            "translation_vector": [
+                0.6878858337070491,
+                -0.10726284441349657,
+                0.36609302073977495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2835100049833429,
+                    0.5901503802059626,
+                    0.7558734059464606
+                ],
+                [
+                    0.05816153400977903,
+                    -0.7973451323677827,
+                    0.600714554385885
+                ],
+                [
+                    0.9572039035837528,
+                    -0.12634582950046624,
+                    -0.26037937386026755
+                ]
+            ],
+            "translation_vector": [
+                0.6898241198037546,
+                -0.10779112033913607,
+                0.3634923983550438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2812714402511307,
+                    0.5826966913882725,
+                    0.7624637320844939
+                ],
+                [
+                    0.06642483923389945,
+                    -0.804457044600102,
+                    0.5902851888079355
+                ],
+                [
+                    0.9573265470213417,
+                    -0.11538383438952712,
+                    -0.26497632560242995
+                ]
+            ],
+            "translation_vector": [
+                0.6918313725525025,
+                -0.10836391066412318,
+                0.3605902424663272
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.27983019324450586,
+                    0.571865406481992,
+                    0.7711452650557667
+                ],
+                [
+                    0.07669685219759906,
+                    -0.8139837516387013,
+                    0.575802088335189
+                ],
+                [
+                    0.9569810112074963,
+                    -0.1019823952325655,
+                    -0.2716375070768149
+                ]
+            ],
+            "translation_vector": [
+                0.6944615297663705,
+                -0.10940798173937752,
+                0.3566828031696311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2811468818819867,
+                    0.5629471361810219,
+                    0.7772045758187625
+                ],
+                [
+                    0.08435878596424214,
+                    -0.8212333082865132,
+                    0.5643221142144159
+                ],
+                [
+                    0.9559498030956833,
+                    -0.09309336832650877,
+                    -0.2783767208926595
+                ]
+            ],
+            "translation_vector": [
+                0.69637610858329,
+                -0.11035399932264103,
+                0.35353944083876837
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28304614851534515,
+                    0.5549850382138274,
+                    0.7822253416819388
+                ],
+                [
+                    0.09365916668697585,
+                    -0.8276732630958399,
+                    0.5533397961937911
+                ],
+                [
+                    0.9545223089619911,
+                    -0.08335812446955329,
+                    -0.2862491655512518
+                ]
+            ],
+            "translation_vector": [
+                0.6978908030105666,
+                -0.11139659908472961,
+                0.3500557324097953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28670720929525295,
+                    0.5448503445185441,
+                    0.7879956079929327
+                ],
+                [
+                    0.10190421934241707,
+                    -0.8352046698893102,
+                    0.5404152935246196
+                ],
+                [
+                    0.9525830705079428,
+                    -0.07464088338914568,
+                    -0.2949817491109364
+                ]
+            ],
+            "translation_vector": [
+                0.6998251143851129,
+                -0.11263162104199147,
+                0.3464701516800954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28840846811618437,
+                    0.5370470556152865,
+                    0.7927174878693084
+                ],
+                [
+                    0.10703704361377595,
+                    -0.8407907917616768,
+                    0.5306730780652011
+                ],
+                [
+                    0.9515059783381807,
+                    -0.0682004731928149,
+                    -0.2999751133727223
+                ]
+            ],
+            "translation_vector": [
+                0.7015088905604931,
+                -0.11339570926669086,
+                0.3442712735653401
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.290406093103985,
+                    0.527761972133306,
+                    0.7982052379294711
+                ],
+                [
+                    0.10948822186659476,
+                    -0.8470024115755322,
+                    0.5201915455461812
+                ],
+                [
+                    0.9506190774230082,
+                    -0.06367272222229017,
+                    -0.30375838109298664
+                ]
+            ],
+            "translation_vector": [
+                0.7036971044116207,
+                -0.11420224578429466,
+                0.3428349087354217
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.29121333935310545,
+                    0.5165203876212844,
+                    0.8052338046520225
+                ],
+                [
+                    0.11022145507507829,
+                    -0.854225510084011,
+                    0.5080846472418193
+                ],
+                [
+                    0.9502873364535307,
+                    -0.05920698517294754,
+                    -0.30569349205173607
+                ]
+            ],
+            "translation_vector": [
+                0.706523469827209,
+                -0.11529564950326053,
+                0.3418790512943408
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2913009054256585,
+                    0.5094402375520147,
+                    0.8097002080159907
+                ],
+                [
+                    0.10929298169088182,
+                    -0.858588659021516,
+                    0.5008797847315778
+                ],
+                [
+                    0.9503677323285489,
+                    -0.057412184791922685,
+                    -0.30578589631654035
+                ]
+            ],
+            "translation_vector": [
+                0.7083158787148126,
+                -0.11586758550687902,
+                0.3416842569073694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.29168495458127536,
+                    0.504569497129073,
+                    0.8126066144438117
+                ],
+                [
+                    0.10777988969905584,
+                    -0.8614768965589393,
+                    0.49622681514770833
+                ],
+                [
+                    0.9504227389153622,
+                    -0.05715924476489307,
+                    -0.30566229419169194
+                ]
+            ],
+            "translation_vector": [
+                0.7095315816594152,
+                -0.11625946087762742,
+                0.3417866785295196
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2889593074335068,
+                    0.4992076358443905,
+                    0.8168808082959241
+                ],
+                [
+                    0.10642260161408368,
+                    -0.8647420685073675,
+                    0.4908109461078567
+                ],
+                [
+                    0.9514077719428394,
+                    -0.054889810240642725,
+                    -0.30300224457668307
+                ]
+            ],
+            "translation_vector": [
+                0.7112902222216482,
+                -0.11679107941776457,
+                0.34247674814355644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2871819701281718,
+                    0.4974349781377202,
+                    0.8185871722415569
+                ],
+                [
+                    0.10513384917655245,
+                    -0.8657914784034318,
+                    0.48923612875719075
+                ],
+                [
+                    0.9520889610696179,
+                    -0.0544385750100655,
+                    -0.30093695645475255
+                ]
+            ],
+            "translation_vector": [
+                0.7121018243368713,
+                -0.11697745357990998,
+                0.3432989597475877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2859297645893654,
+                    0.49686457533564565,
+                    0.8193715662008286
+                ],
+                [
+                    0.10484235829129937,
+                    -0.8661579408461809,
+                    0.48864967145903504
+                ],
+                [
+                    0.9524979000658159,
+                    -0.053814638209622415,
+                    -0.29975278995295196
+                ]
+            ],
+            "translation_vector": [
+                0.7125150867089579,
+                -0.11719287409925573,
+                0.3438809270439626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2850525991594566,
+                    0.4963511860239713,
+                    0.8199881193316373
+                ],
+                [
+                    0.1057816368618232,
+                    -0.8665451317887098,
+                    0.4877599613294651
+                ],
+                [
+                    0.9526569482322962,
+                    -0.052297559272731504,
+                    -0.29951578302126836
+                ]
+            ],
+            "translation_vector": [
+                0.7127437343642334,
+                -0.1179250074227353,
+                0.34419134999185835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2850630777245593,
+                    0.4964333194764249,
+                    0.8199347541309734
+                ],
+                [
+                    0.10644912433375035,
+                    -0.8665323839810646,
+                    0.48763737699305904
+                ],
+                [
+                    0.9525794589674815,
+                    -0.05172607491112167,
+                    -0.29986128047400423
+                ]
+            ],
+            "translation_vector": [
+                0.7126830144052599,
+                -0.11860583320306538,
+                0.3443821817978423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2852757538828381,
+                    0.49676750765980404,
+                    0.8196583358815092
+                ],
+                [
+                    0.10603436392903115,
+                    -0.8663039289041093,
+                    0.4881334002416443
+                ],
+                [
+                    0.9525620493767029,
+                    -0.05234067346500423,
+                    -0.2998099331051018
+                ]
+            ],
+            "translation_vector": [
+                0.7125118046891643,
+                -0.11935406967260884,
+                0.3448591337935737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2855960110901624,
+                    0.4969426265679477,
+                    0.8194406289348467
+                ],
+                [
+                    0.10492273718006383,
+                    -0.8661271464237769,
+                    0.4886870015157439
+                ],
+                [
+                    0.9525891757058922,
+                    -0.05358910456011146,
+                    -0.2995030387164952
+                ]
+            ],
+            "translation_vector": [
+                0.7123070851347899,
+                -0.1203174623001684,
+                0.3454855710723043
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28569394364112904,
+                    0.49680014800623373,
+                    0.819492881914031
+                ],
+                [
+                    0.10437924913601714,
+                    -0.8661780993699155,
+                    0.4887130779114903
+                ],
+                [
+                    0.9526195163424803,
+                    -0.05408431485103066,
+                    -0.2993174635241216
+                ]
+            ],
+            "translation_vector": [
+                0.712150824765404,
+                -0.1211500763037017,
+                0.3458037541847968
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28562990106892316,
+                    0.4967012942894533,
+                    0.8195751239920226
+                ],
+                [
+                    0.10397583382961958,
+                    -0.8662162585692771,
+                    0.48873143890042403
+                ],
+                [
+                    0.9526828357826086,
+                    -0.054380305639316145,
+                    -0.2990621954774324
+                ]
+            ],
+            "translation_vector": [
+                0.7119716860192239,
+                -0.12179635657808648,
+                0.34596637494755855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2862617885363838,
+                    0.4962598653213492,
+                    0.8196220680869857
+                ],
+                [
+                    0.10281000560146507,
+                    -0.8663904066390131,
+                    0.4886693831540018
+                ],
+                [
+                    0.9526196991308641,
+                    -0.055622022213528494,
+                    -0.2990349469087188
+                ]
+            ],
+            "translation_vector": [
+                0.7117762273754369,
+                -0.1224707422807398,
+                0.34614230534204116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2867044326411475,
+                    0.49533822695931023,
+                    0.8200247613436589
+                ],
+                [
+                    0.10061750294545645,
+                    -0.8667937611185493,
+                    0.48841037436461204
+                ],
+                [
+                    0.9527206759617107,
+                    -0.05752057543841379,
+                    -0.29835330900845547
+                ]
+            ],
+            "translation_vector": [
+                0.7117961194471178,
+                -0.12291849023352708,
+                0.34652804997099307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2867233006422458,
+                    0.49397989766443295,
+                    0.8208371394937323
+                ],
+                [
+                    0.09742574592904232,
+                    -0.8674046096057689,
+                    0.48797281406327686
+                ],
+                [
+                    0.9530466792864797,
+                    -0.05994250527046952,
+                    -0.296831472662374
+                ]
+            ],
+            "translation_vector": [
+                0.7120247521199361,
+                -0.12326252489307914,
+                0.34719621306224474
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2863127950280426,
+                    0.49193817263589634,
+                    0.8222054595457787
+                ],
+                [
+                    0.09241374690622582,
+                    -0.8683077632365318,
+                    0.48734107941555993
+                ],
+                [
+                    0.9536690635571556,
+                    -0.06354889933607152,
+                    -0.29406947241628417
+                ]
+            ],
+            "translation_vector": [
+                0.7124829133723546,
+                -0.12363794096636209,
+                0.34832247731136595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28572737495002754,
+                    0.49073492829282117,
+                    0.8231276312684481
+                ],
+                [
+                    0.08866004158960648,
+                    -0.8687887035543435,
+                    0.4871812656513925
+                ],
+                [
+                    0.9542008510945146,
+                    -0.06622249413758965,
+                    -0.29174529480473427
+                ]
+            ],
+            "translation_vector": [
+                0.7128118387369434,
+                -0.1238307056967603,
+                0.3492469924273935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28484089904149185,
+                    0.4903662614661873,
+                    0.8236544128752723
+                ],
+                [
+                    0.08647243368536858,
+                    -0.8688902928022086,
+                    0.4873932470671107
+                ],
+                [
+                    0.9546665283991915,
+                    -0.06760612908432959,
+                    -0.28989865619638316
+                ]
+            ],
+            "translation_vector": [
+                0.7129762381766025,
+                -0.12386833116066767,
+                0.34986171596845334
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2850194534558352,
+                    0.49039067661703517,
+                    0.8235781052449265
+                ],
+                [
+                    0.08210192755824969,
+                    -0.8685493160259217,
+                    0.4887549070056724
+                ],
+                [
+                    0.9549990495508132,
+                    -0.07168730653323485,
+                    -0.2878154711600006
+                ]
+            ],
+            "translation_vector": [
+                0.7130186442506414,
+                -0.12353658332543337,
+                0.35083282607888944
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2860704305217308,
+                    0.4898598179598185,
+                    0.8235296397395089
+                ],
+                [
+                    0.0774108861648387,
+                    -0.8684527482630721,
+                    0.4896911054302413
+                ],
+                [
+                    0.9550765746704744,
+                    -0.07633598615784566,
+                    -0.2863591341882134
+                ]
+            ],
+            "translation_vector": [
+                0.7131483944883107,
+                -0.12337477353064327,
+                0.3518590259307762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.28817343689083835,
+                    0.48849258455309413,
+                    0.8236085630365679
+                ],
+                [
+                    0.06997410663172068,
+                    -0.8685382649032928,
+                    0.4906576268640594
+                ],
+                [
+                    0.9550181645767868,
+                    -0.08376322125739948,
+                    -0.28447148906871017
+                ]
+            ],
+            "translation_vector": [
+                0.7134603003664689,
+                -0.1234631529970644,
+                0.35359474678946184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.29307773788755803,
+                    0.48547322926630077,
+                    0.8236632705301736
+                ],
+                [
+                    0.057108387352137004,
+                    -0.8688433792487616,
+                    0.49178228356624526
+                ],
+                [
+                    0.9543815126293835,
+                    -0.09709235809960767,
+                    -0.28236324539484137
+                ]
+            ],
+            "translation_vector": [
+                0.7141993374939061,
+                -0.12413933818020832,
+                0.35692329131887046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.304820337207585,
+                    0.48228778919208076,
+                    0.8212691705043293
+                ],
+                [
+                    0.041919096863796086,
+                    -0.8682646325216511,
+                    0.49432713584241567
+                ],
+                [
+                    0.9514869160123948,
+                    -0.11625410232872431,
+                    -0.28488178662203834
+                ]
+            ],
+            "translation_vector": [
+                0.7143477602557591,
+                -0.1247309907515489,
+                0.3600629350091341
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.32027764714340384,
+                    0.4783985544623345,
+                    0.8176533812249749
+                ],
+                [
+                    0.02355738589453098,
+                    -0.8668744288802522,
+                    0.49796965180957803
+                ],
+                [
+                    0.9470307694632214,
+                    -0.14022677220090676,
+                    -0.2889103218094042
+                ]
+            ],
+            "translation_vector": [
+                0.7142432290350965,
+                -0.12562198082946538,
+                0.36367883118086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3536994339351893,
+                    0.47130426208982484,
+                    0.8079412125705016
+                ],
+                [
+                    -0.008188602425342653,
+                    -0.8621831398022728,
+                    0.5065305323778756
+                ],
+                [
+                    0.9353232902180114,
+                    -0.1857754719457337,
+                    -0.301094365272905
+                ]
+            ],
+            "translation_vector": [
+                0.7134853072421412,
+                -0.12679382724719435,
+                0.36916040318809695
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.3822308846122245,
+                    0.46546352477412567,
+                    0.7982751768365361
+                ],
+                [
+                    -0.030893077105209565,
+                    -0.8569520338412511,
+                    0.5144694640912273
+                ],
+                [
+                    0.9235503064996121,
+                    -0.22130729495475276,
+                    -0.31317393340487665
+                ]
+            ],
+            "translation_vector": [
+                0.7125889915427331,
+                -0.12762195731652415,
+                0.37273596604100623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.42497646798447086,
+                    0.4562838763264627,
+                    0.7817928279691114
+                ],
+                [
+                    -0.0606458494179195,
+                    -0.8473720772181977,
+                    0.5275250171312212
+                ],
+                [
+                    0.9031705722662928,
+                    -0.27159820867489826,
+                    -0.33244146918933476
+                ]
+            ],
+            "translation_vector": [
+                0.7107639977848849,
+                -0.12897500563199976,
+                0.37700878421531586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.49849104041516085,
+                    0.43914728878762266,
+                    0.7474331685015666
+                ],
+                [
+                    -0.09383363403963219,
+                    -0.8297968237409268,
+                    0.5501204235732262
+                ],
+                [
+                    0.8618015617000977,
+                    -0.34436447270290527,
+                    -0.37243949601421583
+                ]
+            ],
+            "translation_vector": [
+                0.7068543407591233,
+                -0.1320697725334553,
+                0.3822573979452736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5469253172054609,
+                    0.42607988074187825,
+                    0.7206445952247842
+                ],
+                [
+                    -0.10297962448629565,
+                    -0.8200216895100984,
+                    0.5629916746042217
+                ],
+                [
+                    0.8308236240865854,
+                    -0.38212611002127433,
+                    -0.4046130765307043
+                ]
+            ],
+            "translation_vector": [
+                0.7043766826933767,
+                -0.1353669945920789,
+                0.3847881552816711
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6060957466985183,
+                    0.4060569795974306,
+                    0.683933969878802
+                ],
+                [
+                    -0.111858170885965,
+                    -0.807810616688337,
+                    0.5787311613967709
+                ],
+                [
+                    0.7874869493775831,
+                    -0.42727009828189605,
+                    -0.44418978789945973
+                ]
+            ],
+            "translation_vector": [
+                0.7014495003542596,
+                -0.13853719966683634,
+                0.38739418119161767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6768647061027605,
+                    0.3802080194503598,
+                    0.6303142324095651
+                ],
+                [
+                    -0.11093666380974936,
+                    -0.7938116577048633,
+                    0.5979599557784953
+                ],
+                [
+                    0.7276999562011714,
+                    -0.47466294782455093,
+                    -0.49512408516181206
+                ]
+            ],
+            "translation_vector": [
+                0.69714410439421,
+                -0.14241891923599462,
+                0.3905525881737384
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7101971123076857,
+                    0.3661741221430084,
+                    0.6012791148398741
+                ],
+                [
+                    -0.1020331385682805,
+                    -0.791530676305631,
+                    0.6025515970446487
+                ],
+                [
+                    0.6965696665113486,
+                    -0.4892807994801635,
+                    -0.5247809056704723
+                ]
+            ],
+            "translation_vector": [
+                0.6952000367813865,
+                -0.14597349671311619,
+                0.3925349433834187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7322950745167308,
+                    0.3561647801504685,
+                    0.5804227538776402
+                ],
+                [
+                    -0.09347820039380103,
+                    -0.7916831613286989,
+                    0.6037380210983346
+                ],
+                [
+                    0.6745411402499268,
+                    -0.49637125364888446,
+                    -0.5464520369267213
+                ]
+            ],
+            "translation_vector": [
+                0.6938880168802266,
+                -0.14903688478865684,
+                0.39402481275335693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.769616882266321,
+                    0.33554874298310416,
+                    0.5432282168786217
+                ],
+                [
+                    -0.08514508472086771,
+                    -0.7892481622389251,
+                    0.6081427899353536
+                ],
+                [
+                    0.6328034205648262,
+                    -0.514290170511685,
+                    -0.578848383807468
+                ]
+            ],
+            "translation_vector": [
+                0.6916806903406548,
+                -0.15306940101682454,
+                0.3963538550985064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7857391882553026,
+                    0.3297800777265293,
+                    0.5233154195841957
+                ],
+                [
+                    -0.07389458724926096,
+                    -0.7899219453050077,
+                    0.6087387865914362
+                ],
+                [
+                    0.6141282586033311,
+                    -0.5169800969672209,
+                    -0.596303665362375
+                ]
+            ],
+            "translation_vector": [
+                0.6897286503326403,
+                -0.15627950734637203,
+                0.3980148032237451
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7984053468715999,
+                    0.3245369185228784,
+                    0.5071732352978763
+                ],
+                [
+                    -0.06646724234297488,
+                    -0.7896604616966604,
+                    0.6099331610335167
+                ],
+                [
+                    0.5984404797322459,
+                    -0.5206843033438708,
+                    -0.6088980608190073
+                ]
+            ],
+            "translation_vector": [
+                0.6883539046487752,
+                -0.15911814525351448,
+                0.4003473776675767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8165271011888496,
+                    0.314095583606205,
+                    0.484383584964655
+                ],
+                [
+                    -0.06499256793580219,
+                    -0.7836928278835898,
+                    0.6177390368407454
+                ],
+                [
+                    0.5736370447741707,
+                    -0.5358819980955686,
+                    -0.6194925544184182
+                ]
+            ],
+            "translation_vector": [
+                0.686568737630392,
+                -0.1623443348819686,
+                0.4048589749189263
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.830155177021031,
+                    0.3072552599972744,
+                    0.465227457561554
+                ],
+                [
+                    -0.061535617022566484,
+                    -0.7788475291701418,
+                    0.6241873870427187
+                ],
+                [
+                    0.5541261137167534,
+                    -0.5468004494416333,
+                    -0.6276571664432704
+                ]
+            ],
+            "translation_vector": [
+                0.6843728584945786,
+                -0.1647554728507684,
+                0.40746003765826583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.837775761390271,
+                    0.30541637524652987,
+                    0.45260646411449096
+                ],
+                [
+                    -0.056747526412463334,
+                    -0.7757352927687512,
+                    0.6285017691296072
+                ],
+                [
+                    0.5430575401124801,
+                    -0.552227845444478,
+                    -0.6325606017155443
+                ]
+            ],
+            "translation_vector": [
+                0.6826700270362361,
+                -0.16670036402215005,
+                0.40966626797346967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8464740691476345,
+                    0.3048588517911229,
+                    0.4365120052704665
+                ],
+                [
+                    -0.050287379479445164,
+                    -0.770406838209337,
+                    0.6355662696410048
+                ],
+                [
+                    0.5300498370207615,
+                    -0.5599414113323735,
+                    -0.6367988584705325
+                ]
+            ],
+            "translation_vector": [
+                0.6806577583935618,
+                -0.16937200241011197,
+                0.4142238906121746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8547216360654506,
+                    0.30194497580778107,
+                    0.4222323488626116
+                ],
+                [
+                    -0.0463932159172967,
+                    -0.7657235987807793,
+                    0.6414943801679509
+                ],
+                [
+                    0.5170092787933798,
+                    -0.5678878426719937,
+                    -0.6404723286660391
+                ]
+            ],
+            "translation_vector": [
+                0.6790165433870443,
+                -0.17125036602105853,
+                0.41731765154688233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8605807340080267,
+                    0.3015211908345537,
+                    0.4104701837307051
+                ],
+                [
+                    -0.04064494198822392,
+                    -0.7626991984741012,
+                    0.6454749579478181
+                ],
+                [
+                    0.5076896581032354,
+                    -0.5721668499001635,
+                    -0.6441089247404849
+                ]
+            ],
+            "translation_vector": [
+                0.6774291027083887,
+                -0.1734130577615063,
+                0.4199157911766526
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8664544934478475,
+                    0.3033621512572253,
+                    0.39651988092480617
+                ],
+                [
+                    -0.030847962378704297,
+                    -0.7601737409872819,
+                    0.6489871237016057
+                ],
+                [
+                    0.49830213124279943,
+                    -0.5745496398902271,
+                    -0.6492978494503846
+                ]
+            ],
+            "translation_vector": [
+                0.6751632450850875,
+                -0.17656787710919103,
+                0.42311681592815875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8680227775756464,
+                    0.3045994376032331,
+                    0.3921168706159614
+                ],
+                [
+                    -0.026424132320369127,
+                    -0.7602654981859724,
+                    0.6490748319717466
+                ],
+                [
+                    0.4958207567669753,
+                    -0.5737730865767665,
+                    -0.6518789935863823
+                ]
+            ],
+            "translation_vector": [
+                0.6744706539770867,
+                -0.17869862309814927,
+                0.42497186524214653
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.869959948788281,
+                    0.3058237012999585,
+                    0.38683530245762887
+                ],
+                [
+                    -0.0212489276588478,
+                    -0.7604837515231224,
+                    0.6490092038967298
+                ],
+                [
+                    0.49266435894799665,
+                    -0.5728318491429327,
+                    -0.6550919798240916
+                ]
+            ],
+            "translation_vector": [
+                0.6736188386831639,
+                -0.18161140364820594,
+                0.42743169504530215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8714134013344833,
+                    0.30540132853122,
+                    0.3838863275841339
+                ],
+                [
+                    -0.017440777895156183,
+                    -0.7627809730880297,
+                    0.6464216939129523
+                ],
+                [
+                    0.49023923062223296,
+                    -0.5699958031654659,
+                    -0.6593711254920682
+                ]
+            ],
+            "translation_vector": [
+                0.6730688318560898,
+                -0.18475918583831136,
+                0.428918285501506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8736912954367754,
+                    0.30205664503005725,
+                    0.3813466972076654
+                ],
+                [
+                    -0.016642186145549197,
+                    -0.764871990752094,
+                    0.6439672937372094
+                ],
+                [
+                    0.48619600771530996,
+                    -0.5689750618050974,
+                    -0.6632351175304121
+                ]
+            ],
+            "translation_vector": [
+                0.6729328385349277,
+                -0.1874591491360078,
+                0.43037266789307693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8769191405140314,
+                    0.297179496898677,
+                    0.3777527863870526
+                ],
+                [
+                    -0.01801007578209673,
+                    -0.765071559852939,
+                    0.6436933629256358
+                ],
+                [
+                    0.48030038327119423,
+                    -0.5712703868810639,
+                    -0.6655536694379378
+                ]
+            ],
+            "translation_vector": [
+                0.6729242460069588,
+                -0.19045953148236233,
+                0.43285623386580996
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8778677612951001,
+                    0.29465136669575936,
+                    0.37752982105133204
+                ],
+                [
+                    -0.019514566835100503,
+                    -0.7656581213451845,
+                    0.6429516489592366
+                ],
+                [
+                    0.4785053556230777,
+                    -0.5717938556179878,
+                    -0.6663965871142711
+                ]
+            ],
+            "translation_vector": [
+                0.6729791128182342,
+                -0.19362451983677384,
+                0.4354287126531022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8789239110027496,
+                    0.2926314677479565,
+                    0.37664251320225045
+                ],
+                [
+                    -0.01973172657389088,
+                    -0.7666853399474705,
+                    0.6417197585208396
+                ],
+                [
+                    0.47655368809195453,
+                    -0.5714546470134862,
+                    -0.6680839533865843
+                ]
+            ],
+            "translation_vector": [
+                0.6726925964504585,
+                -0.19608123050484882,
+                0.43714211865564284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8801840866436598,
+                    0.29052742542303767,
+                    0.37532624301576306
+                ],
+                [
+                    -0.019801289627646455,
+                    -0.7676068706049068,
+                    0.640615017876746
+                ],
+                [
+                    0.474219234688291,
+                    -0.5712910880428671,
+                    -0.6698825346092018
+                ]
+            ],
+            "translation_vector": [
+                0.6724002053261334,
+                -0.1978074945805521,
+                0.4381562105907357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8819196872049909,
+                    0.2886257519399288,
+                    0.37271012950731813
+                ],
+                [
+                    -0.01854084679974,
+                    -0.7687958266041183,
+                    0.6392254797769246
+                ],
+                [
+                    0.4710349268580831,
+                    -0.570655896590232,
+                    -0.6726648090740283
+                ]
+            ],
+            "translation_vector": [
+                0.6716354751669863,
+                -0.2003416240135412,
+                0.4396990389456204
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8822336566256733,
+                    0.28865603062798306,
+                    0.37194283310609844
+                ],
+                [
+                    -0.016603305245757937,
+                    -0.7704367946997188,
+                    0.6373001456360575
+                ],
+                [
+                    0.47051897450773467,
+                    -0.5684231182446056,
+                    -0.6749126263993508
+                ]
+            ],
+            "translation_vector": [
+                0.6711672824161571,
+                -0.2019161835964651,
+                0.4405917499401129
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8825052665068622,
+                    0.2884520910966348,
+                    0.3714563846935878
+                ],
+                [
+                    -0.01479505713189322,
+                    -0.772405862193394,
+                    0.6349569200613089
+                ],
+                [
+                    0.4700697404344551,
+                    -0.5658485443926302,
+                    -0.6773845760988549
+                ]
+            ],
+            "translation_vector": [
+                0.6707671466474636,
+                -0.20335150805769245,
+                0.4411490324049731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8829148745540202,
+                    0.2878057072751261,
+                    0.3709840955500972
+                ],
+                [
+                    -0.012859556629466815,
+                    -0.7749942194085006,
+                    0.6318374725249386
+                ],
+                [
+                    0.4693569602067842,
+                    -0.5626293937782433,
+                    -0.6805528702181588
+                ]
+            ],
+            "translation_vector": [
+                0.6703058669312726,
+                -0.20514865244627378,
+                0.4417418456373542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8828785186927481,
+                    0.28721521733929256,
+                    0.37152784573924136
+                ],
+                [
+                    -0.012233474476709453,
+                    -0.7768202300437562,
+                    0.629603583453107
+                ],
+                [
+                    0.46944207665390025,
+                    -0.560408555540963,
+                    -0.6823242539609486
+                ]
+            ],
+            "translation_vector": [
+                0.6701737068061279,
+                -0.20637020213435975,
+                0.4422786020728296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8824345960809362,
+                    0.2861432583733217,
+                    0.3734048999771878
+                ],
+                [
+                    -0.013082550581974073,
+                    -0.7785101832481968,
+                    0.6274956107010864
+                ],
+                [
+                    0.47025315576798127,
+                    -0.558608924263082,
+                    -0.6832408354481582
+                ]
+            ],
+            "translation_vector": [
+                0.6703640432425556,
+                -0.20750166539324671,
+                0.4428969653095913
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8812551299550224,
+                    0.28326552083879614,
+                    0.37835174194376636
+                ],
+                [
+                    -0.017313820164456255,
+                    -0.7806209374215091,
+                    0.6247649027358031
+                ],
+                [
+                    0.47232364704646085,
+                    -0.5571279895707001,
+                    -0.6830217973664093
+                ]
+            ],
+            "translation_vector": [
+                0.6711149398833258,
+                -0.20937863798540307,
+                0.4444069549735527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8801936152346639,
+                    0.2803846915872388,
+                    0.38294075837348734
+                ],
+                [
+                    -0.022617186431686198,
+                    -0.7811494761976284,
+                    0.6239342583270175
+                ],
+                [
+                    0.4740755874099056,
+                    -0.5578439930300406,
+                    -0.681221268650835
+                ]
+            ],
+            "translation_vector": [
+                0.6718861795261463,
+                -0.21076175735368324,
+                0.4459795111180007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8789675445994504,
+                    0.2776860093276587,
+                    0.38769386861864735
+                ],
+                [
+                    -0.028260973593614184,
+                    -0.7812169447441288,
+                    0.6236195976845101
+                ],
+                [
+                    0.4760434569578229,
+                    -0.5590979927242886,
+                    -0.6788166627443062
+                ]
+            ],
+            "translation_vector": [
+                0.6727215875357642,
+                -0.21189691764312274,
+                0.44742627438648175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.877266951701322,
+                    0.2728036075504118,
+                    0.3949441570148259
+                ],
+                [
+                    -0.03855535096869473,
+                    -0.7800891282372134,
+                    0.6244793326586437
+                ],
+                [
+                    0.47845185793802836,
+                    -0.5630622911486661,
+                    -0.6738283727493698
+                ]
+            ],
+            "translation_vector": [
+                0.6742233675838313,
+                -0.21328613490441467,
+                0.44995313893324523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8754033149661311,
+                    0.2690077979325416,
+                    0.40162649414324486
+                ],
+                [
+                    -0.0478470495381247,
+                    -0.7785483050078374,
+                    0.6257580975264482
+                ],
+                [
+                    0.4810194341155098,
+                    -0.5670073557026475,
+                    -0.668672537631303
+                ]
+            ],
+            "translation_vector": [
+                0.6756451900253089,
+                -0.21433971059372117,
+                0.45206612250738604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8730503735761908,
+                    0.2662450142485481,
+                    0.40852984907625106
+                ],
+                [
+                    -0.05613126758469164,
+                    -0.7773462399192843,
+                    0.6265637270722638
+                ],
+                [
+                    0.4843886105161947,
+                    -0.5699529942645629,
+                    -0.663717755021703
+                ]
+            ],
+            "translation_vector": [
+                0.6770018860377055,
+                -0.21512347745083674,
+                0.45379943637190334
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8693926627377297,
+                    0.26390038932310883,
+                    0.417747510456869
+                ],
+                [
+                    -0.0658480347050893,
+                    -0.7760163544467202,
+                    0.6272660153050698
+                ],
+                [
+                    0.48971464579209556,
+                    -0.5728483238574886,
+                    -0.6572856027256252
+                ]
+            ],
+            "translation_vector": [
+                0.6787872002782831,
+                -0.21581055598863505,
+                0.45587758684013524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8657659099548186,
+                    0.26198392616865623,
+                    0.42639630813289237
+                ],
+                [
+                    -0.0742587082960634,
+                    -0.7753434802315321,
+                    0.6271587772682891
+                ],
+                [
+                    0.4949091163055138,
+                    -0.5746363285519908,
+                    -0.6518113657385729
+                ]
+            ],
+            "translation_vector": [
+                0.6804686344981722,
+                -0.21637307471695294,
+                0.45762895826545236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8622848817430182,
+                    0.26001355222366923,
+                    0.4345776517234389
+                ],
+                [
+                    -0.0825260587363754,
+                    -0.7745145027450846,
+                    0.6271496907971612
+                ],
+                [
+                    0.4996541127088515,
+                    -0.5766456777758453,
+                    -0.6463942527247336
+                ]
+            ],
+            "translation_vector": [
+                0.6822254716882716,
+                -0.21681068565638853,
+                0.45947063300097035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.858247238473713,
+                    0.25860738922126414,
+                    0.44332143631050336
+                ],
+                [
+                    -0.09243582589352793,
+                    -0.7717655066869692,
+                    0.629153098044973
+                ],
+                [
+                    0.5048438330252509,
+                    -0.5809476920759457,
+                    -0.6384610272585206
+                ]
+            ],
+            "translation_vector": [
+                0.6843285326090082,
+                -0.21687528969204156,
+                0.4618647052808988
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8548381738576433,
+                    0.2593398473628412,
+                    0.44943802696873364
+                ],
+                [
+                    -0.09829122612641474,
+                    -0.7695337322256711,
+                    0.6309965687968478
+                ],
+                [
+                    0.5095002761356424,
+                    -0.5835757693193295,
+                    -0.6323359787969185
+                ]
+            ],
+            "translation_vector": [
+                0.6857472134223405,
+                -0.2167563367614887,
+                0.4637297836634226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.850913407521243,
+                    0.26066849483335147,
+                    0.456068315827686
+                ],
+                [
+                    -0.10350536748073036,
+                    -0.7679774281246279,
+                    0.632057994802503
+                ],
+                [
+                    0.5150077783910316,
+                    -0.5850321407345045,
+                    -0.6265017019165527
+                ]
+            ],
+            "translation_vector": [
+                0.6873284179673363,
+                -0.21670296864580116,
+                0.4656201943132164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8453127972679604,
+                    0.26191242249812774,
+                    0.46566957997723946
+                ],
+                [
+                    -0.11250364686260346,
+                    -0.7647938076540296,
+                    0.6343763561299125
+                ],
+                [
+                    0.5222922593889661,
+                    -0.5886359781012485,
+                    -0.6170238901915837
+                ]
+            ],
+            "translation_vector": [
+                0.6901423945336379,
+                -0.21636514499472623,
+                0.4686705723724287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8415153095832337,
+                    0.2638502389023665,
+                    0.47141811077662127
+                ],
+                [
+                    -0.1169120818821113,
+                    -0.7629967202846746,
+                    0.6357417478385551
+                ],
+                [
+                    0.5274310844527701,
+                    -0.5901008865151742,
+                    -0.6112261405461819
+                ]
+            ],
+            "translation_vector": [
+                0.6916176650323613,
+                -0.21620278663570097,
+                0.470369175768046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8374379458074637,
+                    0.26677372724511256,
+                    0.4770004878126709
+                ],
+                [
+                    -0.11973776421892875,
+                    -0.7620164634928499,
+                    0.6363912139444594
+                ],
+                [
+                    0.533254680937381,
+                    -0.5900531228775938,
+                    -0.6061986122062402
+                ]
+            ],
+            "translation_vector": [
+                0.6929742294730336,
+                -0.21606390995462352,
+                0.47175946859925266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8329768176396799,
+                    0.26919806862560963,
+                    0.4834066829524738
+                ],
+                [
+                    -0.12404398660364738,
+                    -0.7605741019473106,
+                    0.6372912401991075
+                ],
+                [
+                    0.5392241747755252,
+                    -0.5908125212749676,
+                    -0.6001481934009053
+                ]
+            ],
+            "translation_vector": [
+                0.6950960653074257,
+                -0.21584512492603292,
+                0.4738050820095371
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8296126553471228,
+                    0.26981305026379093,
+                    0.4888187394067915
+                ],
+                [
+                    -0.12920742459529408,
+                    -0.7589474283569508,
+                    0.6382039191510986
+                ],
+                [
+                    0.5431834713219348,
+                    -0.5926210584325532,
+                    -0.5947705419612952
+                ]
+            ],
+            "translation_vector": [
+                0.6971851254921777,
+                -0.21573807962700042,
+                0.4754622298472428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8261694900524388,
+                    0.2728898300860426,
+                    0.49292505955987326
+                ],
+                [
+                    -0.13066817706232148,
+                    -0.7582218582527078,
+                    0.638768691445519
+                ],
+                [
+                    0.5480600343116652,
+                    -0.5921408230340329,
+                    -0.5907617493430621
+                ]
+            ],
+            "translation_vector": [
+                0.6983408857929331,
+                -0.21551611513032104,
+                0.4766200897654846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8226466050243981,
+                    0.27608075891783235,
+                    0.4970231159585897
+                ],
+                [
+                    -0.1318639397074813,
+                    -0.7577052927396196,
+                    0.6391358155816252
+                ],
+                [
+                    0.5530501465931039,
+                    -0.5913223350337118,
+                    -0.5869185901329291
+                ]
+            ],
+            "translation_vector": [
+                0.6997137474652355,
+                -0.2152862493466226,
+                0.477841041147683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8200789335735902,
+                    0.2782021330714777,
+                    0.5000741103709361
+                ],
+                [
+                    -0.1330695479364152,
+                    -0.7572086680310254,
+                    0.6394744158061986
+                ],
+                [
+                    0.5565635975526978,
+                    -0.5909641327637073,
+                    -0.5839506448887937
+                ]
+            ],
+            "translation_vector": [
+                0.7009013213200983,
+                -0.2151651269428216,
+                0.4788943531563531
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8162207069838707,
+                    0.28196717903817664,
+                    0.5042601188236119
+                ],
+                [
+                    -0.13346478827622013,
+                    -0.7571804478519328,
+                    0.6394254606137685
+                ],
+                [
+                    0.5621128959391823,
+                    -0.5892132715205921,
+                    -0.5803936706088951
+                ]
+            ],
+            "translation_vector": [
+                0.7021426519828069,
+                -0.21505915745889095,
+                0.4801469193162005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8127296101108699,
+                    0.28604582500237463,
+                    0.5075907474016292
+                ],
+                [
+                    -0.13305501546067267,
+                    -0.7570493582508767,
+                    0.6396660316389297
+                ],
+                [
+                    0.5672450473206389,
+                    -0.5874130192382927,
+                    -0.5772165980977673
+                ]
+            ],
+            "translation_vector": [
+                0.7031775105364478,
+                -0.21478537004133028,
+                0.4812768419171727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8109216630274754,
+                    0.28810155408472227,
+                    0.5093167491519609
+                ],
+                [
+                    -0.13269912950359425,
+                    -0.7571779634376722,
+                    0.6395877365251521
+                ],
+                [
+                    0.5699096397340037,
+                    -0.5862414402090209,
+                    -0.5757811878829586
+                ]
+            ],
+            "translation_vector": [
+                0.7039370075690794,
+                -0.21470335163153437,
+                0.48195095998264786
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8104932732720624,
+                    0.28880365239845096,
+                    0.5096009265514074
+                ],
+                [
+                    -0.13186021874329895,
+                    -0.7577105771881776,
+                    0.6391303184250678
+                ],
+                [
+                    0.5707131825126415,
+                    -0.5852069134746051,
+                    -0.5760376131189863
+                ]
+            ],
+            "translation_vector": [
+                0.7045107621097335,
+                -0.21472668746482626,
+                0.4821732570128073
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8129684810921313,
+                    0.2869910046248521,
+                    0.506673871454974
+                ],
+                [
+                    -0.1304965272560064,
+                    -0.7581912040187757,
+                    0.6388401635171994
+                ],
+                [
+                    0.5674970529658068,
+                    -0.5854760980714565,
+                    -0.5789342220513024
+                ]
+            ],
+            "translation_vector": [
+                0.7050950428766188,
+                -0.21469858338773865,
+                0.48187112423877365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8146866002224545,
+                    0.2850492852888604,
+                    0.5050075725910339
+                ],
+                [
+                    -0.13071635525075578,
+                    -0.7581705119539831,
+                    0.6388197783987227
+                ],
+                [
+                    0.5649769711129267,
+                    -0.5864506626816487,
+                    -0.5804107531329156
+                ]
+            ],
+            "translation_vector": [
+                0.7054648462550147,
+                -0.21483826565332814,
+                0.4817252578433945
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8172328848088888,
+                    0.28314336338449186,
+                    0.5019564201783442
+                ],
+                [
+                    -0.13003710073574698,
+                    -0.7579288830782508,
+                    0.6392449926499199
+                ],
+                [
+                    0.5614452461453228,
+                    -0.5876849870186174,
+                    -0.5825852655309305
+                ]
+            ],
+            "translation_vector": [
+                0.7058358923147605,
+                -0.21493912664430487,
+                0.4815270021279338
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8179872461719618,
+                    0.2830105742982975,
+                    0.5008012379531008
+                ],
+                [
+                    -0.12932754496943505,
+                    -0.7578337315028928,
+                    0.6395016978152445
+                ],
+                [
+                    0.5605098136626951,
+                    -0.5878716273403143,
+                    -0.5832972643138844
+                ]
+            ],
+            "translation_vector": [
+                0.7059720026157105,
+                -0.2149617649833586,
+                0.48144287502815364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8181571306347023,
+                    0.28305403620410535,
+                    0.5004990731061905
+                ],
+                [
+                    -0.12898378902733423,
+                    -0.7579111700495602,
+                    0.639479351099204
+                ],
+                [
+                    0.5603410495044451,
+                    -0.5877508578493712,
+                    -0.5835810460746522
+                ]
+            ],
+            "translation_vector": [
+                0.705959954532357,
+                -0.21494165430490939,
+                0.4813376785269686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8181305781823814,
+                    0.2832673126137134,
+                    0.500421808724967
+                ],
+                [
+                    -0.12868562141399748,
+                    -0.7579869027962616,
+                    0.6394496587149175
+                ],
+                [
+                    0.5604483632630719,
+                    -0.5875504104278507,
+                    -0.5836798328894091
+                ]
+            ],
+            "translation_vector": [
+                0.7059254199116661,
+                -0.21490976364050332,
+                0.4812644393124352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8180641409435603,
+                    0.28345187155045104,
+                    0.5004259164120318
+                ],
+                [
+                    -0.12855583966635148,
+                    -0.7579760837240037,
+                    0.6394885867551522
+                ],
+                [
+                    0.5605751130668882,
+                    -0.5874753552422168,
+                    -0.5836336604352741
+                ]
+            ],
+            "translation_vector": [
+                0.7059079339990783,
+                -0.21488682736930498,
+                0.4812508102425941
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8179748477246542,
+                    0.2836782665493872,
+                    0.5004435928027895
+                ],
+                [
+                    -0.12837388408237416,
+                    -0.7579969634857509,
+                    0.6395003903298161
+                ],
+                [
+                    0.5607470859268325,
+                    -0.5873391221721201,
+                    -0.5836055698763073
+                ]
+            ],
+            "translation_vector": [
+                0.7058678439836507,
+                -0.21485911964660842,
+                0.4812383031175083
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8178752902136824,
+                    0.28400272829329887,
+                    0.5004222816580493
+                ],
+                [
+                    -0.12802910097403666,
+                    -0.7580765241217942,
+                    0.6394752011448132
+                ],
+                [
+                    0.5609710856734643,
+                    -0.5870795805488233,
+                    -0.5836514431927271
+                ]
+            ],
+            "translation_vector": [
+                0.7057922627213638,
+                -0.2148041501642185,
+                0.48118778391910844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8178204565026386,
+                    0.28439436174646887,
+                    0.5002894641431447
+                ],
+                [
+                    -0.12758066756423114,
+                    -0.7581184321292792,
+                    0.6395151414389725
+                ],
+                [
+                    0.5611531646437373,
+                    -0.5868358287227038,
+                    -0.5837215397239136
+                ]
+            ],
+            "translation_vector": [
+                0.7056576087777451,
+                -0.2147153990614944,
+                0.48108476834168107
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.817815428360681,
+                    0.28475351024954126,
+                    0.500093354820678
+                ],
+                [
+                    -0.12710447167810549,
+                    -0.7581637927427393,
+                    0.639556187252828
+                ],
+                [
+                    0.5612685439383412,
+                    -0.5866030188931091,
+                    -0.5838446024507078
+                ]
+            ],
+            "translation_vector": [
+                0.7055057858322414,
+                -0.21461835430326778,
+                0.48095185471327356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8177934414357835,
+                    0.2849942383453276,
+                    0.49999217119329464
+                ],
+                [
+                    -0.1268165229827233,
+                    -0.7581861612358052,
+                    0.6395868310159976
+                ],
+                [
+                    0.5613657066861055,
+                    -0.5864571843028956,
+                    -0.583897691668951
+                ]
+            ],
+            "translation_vector": [
+                0.705405831597013,
+                -0.21454868378169384,
+                0.4808753735681393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8177589446187011,
+                    0.2852469267989242,
+                    0.49990449012574145
+                ],
+                [
+                    -0.12648993323179905,
+                    -0.758250079171275,
+                    0.639575729861422
+                ],
+                [
+                    0.5614896306140688,
+                    -0.5862516594334934,
+                    -0.5839849197747765
+                ]
+            ],
+            "translation_vector": [
+                0.7052851347897311,
+                -0.2144712105242415,
+                0.4807517628194593
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8177118365140209,
+                    0.2854040676013532,
+                    0.49989185892697774
+                ],
+                [
+                    -0.1263119832261338,
+                    -0.7582977066393778,
+                    0.6395544316154343
+                ],
+                [
+                    0.5615982864275391,
+                    -0.5861135609266029,
+                    -0.5840190565209235
+                ]
+            ],
+            "translation_vector": [
+                0.705228882509633,
+                -0.21441448971805918,
+                0.4806705855660296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8176769149644892,
+                    0.28558667295830636,
+                    0.49984469084182587
+                ],
+                [
+                    -0.1260644169988345,
+                    -0.7583690059233661,
+                    0.6395187359425439
+                ],
+                [
+                    0.5617047494021206,
+                    -0.5859323366084267,
+                    -0.5840985117389788
+                ]
+            ],
+            "translation_vector": [
+                0.705137392256364,
+                -0.21436486069994432,
+                0.4805675743899429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8176445994209235,
+                    0.2856869869026004,
+                    0.4998402290255469
+                ],
+                [
+                    -0.12591473927618754,
+                    -0.758439888427809,
+                    0.6394641616811864
+                ],
+                [
+                    0.5617853571167618,
+                    -0.5857916704393519,
+                    -0.5841620762879651
+                ]
+            ],
+            "translation_vector": [
+                0.7050816728618762,
+                -0.2143137542990708,
+                0.48047681703755174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8176299464228375,
+                    0.2857625197975194,
+                    0.49982102095806313
+                ],
+                [
+                    -0.1257947752065007,
+                    -0.7584878760765947,
+                    0.6394308534748403
+                ],
+                [
+                    0.5618335565301651,
+                    -0.5856926874426461,
+                    -0.5842149695385056
+                ]
+            ],
+            "translation_vector": [
+                0.7050349613354604,
+                -0.21427802672119267,
+                0.4804072311411065
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8175700144586138,
+                    0.2858707875812483,
+                    0.49985714385794094
+                ],
+                [
+                    -0.12570972196598054,
+                    -0.758517934110895,
+                    0.6394119246896913
+                ],
+                [
+                    0.5619397986095819,
+                    -0.5856009190906523,
+                    -0.5842047811331277
+                ]
+            ],
+            "translation_vector": [
+                0.7049995175721078,
+                -0.2142432347584593,
+                0.48038141439813176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8175370509644759,
+                    0.28595535440683467,
+                    0.4998626867314357
+                ],
+                [
+                    -0.1255577914863964,
+                    -0.7586119883834018,
+                    0.6393301901819121
+                ],
+                [
+                    0.5620217178164616,
+                    -0.5854377732663335,
+                    -0.5842894850462318
+                ]
+            ],
+            "translation_vector": [
+                0.7049257139015161,
+                -0.21420142289162034,
+                0.48028873128827715
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8174887342383769,
+                    0.28595769342287897,
+                    0.4999403634090803
+                ],
+                [
+                    -0.12552179546007944,
+                    -0.7587108365088908,
+                    0.6392199507434488
+                ],
+                [
+                    0.5621000340311452,
+                    -0.585308520471252,
+                    -0.5843436382865302
+                ]
+            ],
+            "translation_vector": [
+                0.7049085924897982,
+                -0.2142018661061764,
+                0.48024784767107376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8174249699982689,
+                    0.28602498771197454,
+                    0.5000061247901816
+                ],
+                [
+                    -0.1254434136154997,
+                    -0.758791271695885,
+                    0.6391398563527649
+                ],
+                [
+                    0.5622102528448059,
+                    -0.5851713530261945,
+                    -0.5843749816630353
+                ]
+            ],
+            "translation_vector": [
+                0.7048802154968856,
+                -0.21418911342808325,
+                0.48021522831823754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8174456950051469,
+                    0.28599924578951696,
+                    0.49998696695551986
+                ],
+                [
+                    -0.1253717639258244,
+                    -0.7588711753022199,
+                    0.6390590427382709
+                ],
+                [
+                    0.5621961014874437,
+                    -0.585080311327646,
+                    -0.5844797453882085
+                ]
+            ],
+            "translation_vector": [
+                0.7048410548004985,
+                -0.21418418491592575,
+                0.48013574447554963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8173868544727978,
+                    0.28610698232785664,
+                    0.5000215243350152
+                ],
+                [
+                    -0.1252706168131412,
+                    -0.7589169728617425,
+                    0.6390244916007711
+                ],
+                [
+                    0.5623041905395334,
+                    -0.5849682238939278,
+                    -0.5844879591027204
+                ]
+            ],
+            "translation_vector": [
+                0.7048067962308487,
+                -0.2141653000771945,
+                0.4801034367815907
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8173421282367437,
+                    0.2861442526974931,
+                    0.500073306683754
+                ],
+                [
+                    -0.12517322877935563,
+                    -0.7590300818551753,
+                    0.6389092248793075
+                ],
+                [
+                    0.562390885600382,
+                    -0.5848032160369157,
+                    -0.5845696624924177
+                ]
+            ],
+            "translation_vector": [
+                0.7047789386931382,
+                -0.21415656024737742,
+                0.480050537230426
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8172408496440037,
+                    0.28620262628377885,
+                    0.5002054081888901
+                ],
+                [
+                    -0.1251170589047405,
+                    -0.7591483922497511,
+                    0.6387796491088655
+                ],
+                [
+                    0.5625505446128146,
+                    -0.584621052693867,
+                    -0.584598246236627
+                ]
+            ],
+            "translation_vector": [
+                0.7047602399033059,
+                -0.21415869524549375,
+                0.4800284017675217
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8171615484871495,
+                    0.28624722238598793,
+                    0.5003094356000004
+                ],
+                [
+                    -0.12510533713783958,
+                    -0.7592088365714016,
+                    0.6387101041094673
+                ],
+                [
+                    0.5626683377387709,
+                    -0.584520718322461,
+                    -0.5845852132564444
+                ]
+            ],
+            "translation_vector": [
+                0.7047490167400386,
+                -0.2141695659664463,
+                0.48002453755802427
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d595f68e02e5a6c67d0dbf90083d35820940e80f
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 329.2693976636203,
+        "fy": 435.221923828125,
+        "ppx": 320.64483066774767,
+        "ppy": 244.24607849121094,
+        "distortion_model": "plumb bob",
+        "k1": -0.0537944994866848,
+        "k2": 0.05684778466820717,
+        "k3": -0.018539847806096077,
+        "p1": -0.00015508777869399637,
+        "p2": 0.0015935895498842
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa70f0a2243d61f023c92df2c265a18a8d7fdd3d
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.002591711941905328,
+                0.07098337599553736,
+                -0.9974741316753465
+            ],
+            [
+                -0.010268024075381176,
+                -0.9974230077682127,
+                -0.07100641700719237
+            ],
+            [
+                -0.9999439237831277,
+                0.010426116577521839,
+                -0.001856174106690034
+            ]
+        ],
+        "translation_vector": [
+            -0.10471075297878585,
+            0.06719411554104168,
+            -0.01278369288916334
+        ]
+    }
+}
diff --git a/parameters/1957/1237171/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..87117d31ea2473441c12845914604b73bbdd76ec
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392956717565674,
+                    -0.9339813563334222,
+                    0.3571705649577642
+                ],
+                [
+                    -0.9999440222556099,
+                    0.010416265433594196,
+                    -0.001858432051287183
+                ],
+                [
+                    -0.00198464252175224,
+                    -0.35716988595904675,
+                    -0.9340373299596022
+                ]
+            ],
+            "translation_vector": [
+                0.596710491778311,
+                -0.012781639350187389,
+                0.6535422100235895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392956717565674,
+                    -0.9339813563334222,
+                    0.3571705649577642
+                ],
+                [
+                    -0.9999440222556099,
+                    0.010416265433594196,
+                    -0.001858432051287183
+                ],
+                [
+                    -0.00198464252175224,
+                    -0.35716988595904675,
+                    -0.9340373299596022
+                ]
+            ],
+            "translation_vector": [
+                0.596710491778311,
+                -0.012781639350187389,
+                0.6535422100235895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.6535447303092096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392843859671538,
+                    -0.9339611064994623,
+                    0.3572235159431821
+                ],
+                [
+                    -0.9999440222580742,
+                    0.010416265298846381,
+                    -0.001858431480594774
+                ],
+                [
+                    -0.001985232191081128,
+                    -0.35722283376559844,
+                    -0.9340170800845259
+                ]
+            ],
+            "translation_vector": [
+                0.5967149292974102,
+                -0.01278163928081723,
+                0.6535474866342019
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460864418305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460864418305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392939634702503,
+                    -0.9339782955048477,
+                    0.35717856925018565
+                ],
+                [
+                    -0.9999440222562017,
+                    0.010416265397306279,
+                    -0.0018584319363884089
+                ],
+                [
+                    -0.0019847316792803234,
+                    -0.357177889770676,
+                    -0.9340342691246017
+                ]
+            ],
+            "translation_vector": [
+                0.5967127302225577,
+                -0.012781639329903713,
+                0.6535414760963134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392939634702503,
+                    -0.9339782955048477,
+                    0.35717856925018565
+                ],
+                [
+                    -0.9999440222562017,
+                    0.010416265397306279,
+                    -0.0018584319363884089
+                ],
+                [
+                    -0.0019847316792803234,
+                    -0.357177889770676,
+                    -0.9340342691246017
+                ]
+            ],
+            "translation_vector": [
+                0.5967127302225577,
+                -0.012781639329903713,
+                0.6535414760963134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392941167350752,
+                    -0.9339785686276364,
+                    0.3571778550220663
+                ],
+                [
+                    -0.9999440222560765,
+                    0.010416265405809144,
+                    -0.0018584319561113978
+                ],
+                [
+                    -0.0019847237167267173,
+                    -0.357177175585546,
+                    -0.9340345422480374
+                ]
+            ],
+            "translation_vector": [
+                0.5967120119603402,
+                -0.01278163933495431,
+                0.6535419276280352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434040828532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434040828532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039289004165481,
+                    -0.9339693951666138,
+                    0.3572018431205137
+                ],
+                [
+                    -0.9999440222571973,
+                    0.010416265344445204,
+                    -0.001858431697002042
+                ],
+                [
+                    -0.001984990851460786,
+                    -0.3572011622438875,
+                    -0.9340253687683949
+                ]
+            ],
+            "translation_vector": [
+                0.5967140536324153,
+                -0.012781639303331963,
+                0.6535443621787114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392934334018809,
+                    -0.9339773442794492,
+                    0.35718105673262684
+                ],
+                [
+                    -0.9999440222563127,
+                    0.010416265391294154,
+                    -0.0018584319101517964
+                ],
+                [
+                    -0.001984759379702276,
+                    -0.3571803771037896,
+                    -0.9340333178972791
+                ]
+            ],
+            "translation_vector": [
+                0.5967129073351776,
+                -0.01278163932684084,
+                0.6535416798337349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392934334018809,
+                    -0.9339773442794492,
+                    0.35718105673262684
+                ],
+                [
+                    -0.9999440222563127,
+                    0.010416265391294154,
+                    -0.0018584319101517964
+                ],
+                [
+                    -0.001984759379702276,
+                    -0.3571803771037896,
+                    -0.9340333178972791
+                ]
+            ],
+            "translation_vector": [
+                0.5967129073351776,
+                -0.01278163932684084,
+                0.6535416798337349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905945333781,
+                    -0.9339722489889979,
+                    0.3571943807290998
+                ],
+                [
+                    -0.9999440222568631,
+                    0.010416265362479912,
+                    -0.0018584317757121063
+                ],
+                [
+                    -0.0019849077505066297,
+                    -0.357193700300456,
+                    -0.9340282225965607
+                ]
+            ],
+            "translation_vector": [
+                0.596713522311014,
+                -0.012781639312520464,
+                0.653543522074202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535437604103881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535437604103881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392932449989985,
+                    -0.9339770052271553,
+                    0.3571819433594091
+                ],
+                [
+                    -0.9999440222563057,
+                    0.010416265392539354,
+                    -0.0018584319068949136
+                ],
+                [
+                    -0.0019847692486342572,
+                    -0.3571812636774029,
+                    -0.9340329788443463
+                ]
+            ],
+            "translation_vector": [
+                0.5967126367604298,
+                -0.012781639327834684,
+                0.6535421219094532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393010069249609,
+                    -0.9339909339302818,
+                    0.3571455175103574
+                ],
+                [
+                    -0.9999440222546284,
+                    0.010416265483973609,
+                    -0.0018584322971849135
+                ],
+                [
+                    -0.0019843636099051002,
+                    -0.3571448400150951,
+                    -0.9340469075756614
+                ]
+            ],
+            "translation_vector": [
+                0.5967097094256324,
+                -0.012781639374771855,
+                0.6535382872649532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393010069249609,
+                    -0.9339909339302818,
+                    0.3571455175103574
+                ],
+                [
+                    -0.9999440222546284,
+                    0.010416265483973609,
+                    -0.0018584322971849135
+                ],
+                [
+                    -0.0019843636099051002,
+                    -0.3571448400150951,
+                    -0.9340469075756614
+                ]
+            ],
+            "translation_vector": [
+                0.5967097094256324,
+                -0.012781639374771855,
+                0.6535382872649532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392978621231126,
+                    -0.9339852929297197,
+                    0.35716027016784097
+                ],
+                [
+                    -0.999944022255429,
+                    0.010416265438147627,
+                    -0.001858432123300452
+                ],
+                [
+                    -0.001984527906958026,
+                    -0.35715959178679296,
+                    -0.9340412665635702
+                ]
+            ],
+            "translation_vector": [
+                0.5967117609855379,
+                -0.012781639350349957,
+                0.6535390738153241
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392895342955068,
+                    -0.9339703464473658,
+                    0.3571993556592425
+                ],
+                [
+                    -0.9999440222570856,
+                    0.010416265350456854,
+                    -0.0018584317232387421
+                ],
+                [
+                    -0.0019849631511568624,
+                    -0.35719867493194385,
+                    -0.9340263200510744
+                ]
+            ],
+            "translation_vector": [
+                0.5967138765260274,
+                -0.012781639306394801,
+                0.6535440821434033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392895342955068,
+                    -0.9339703464473658,
+                    0.3571993556592425
+                ],
+                [
+                    -0.9999440222570856,
+                    0.010416265350456854,
+                    -0.0018584317232387421
+                ],
+                [
+                    -0.0019849631511568624,
+                    -0.35719867493194385,
+                    -0.9340263200510744
+                ]
+            ],
+            "translation_vector": [
+                0.5967138765260274,
+                -0.012781639306394801,
+                0.6535440821434033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392791187675473,
+                    -0.9339516586897919,
+                    0.357248217800896
+                ],
+                [
+                    -0.9999440222593203,
+                    0.010416265228993738,
+                    -0.0018584312017588618
+                ],
+                [
+                    -0.0019855072857559238,
+                    -0.35724753414021804,
+                    -0.9340076322555146
+                ]
+            ],
+            "translation_vector": [
+                0.596717689094012,
+                -0.012781639244144986,
+                0.653549240858922
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287790593849,
+                    -0.9339672194403025,
+                    0.35720753225510615
+                ],
+                [
+                    -0.9999440222575453,
+                    0.01041626532392021,
+                    -0.0018584316248054008
+                ],
+                [
+                    -0.0019850542145326364,
+                    -0.3572068510368356,
+                    -0.9340231930375786
+                ]
+            ],
+            "translation_vector": [
+                0.5967151261020283,
+                -0.012781639292155748,
+                0.6535443181320737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287790593849,
+                    -0.9339672194403025,
+                    0.35720753225510615
+                ],
+                [
+                    -0.9999440222575453,
+                    0.01041626532392021,
+                    -0.0018584316248054008
+                ],
+                [
+                    -0.0019850542145326364,
+                    -0.3572068510368356,
+                    -0.9340231930375786
+                ]
+            ],
+            "translation_vector": [
+                0.5967151261020283,
+                -0.012781639292155748,
+                0.6535443181320737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928688357169,
+                    -0.9339655899773641,
+                    0.35721179294026445
+                ],
+                [
+                    -0.9999440222576428,
+                    0.010416265320399833,
+                    -0.0018584315920551504
+                ],
+                [
+                    -0.0019851016525351656,
+                    -0.35721111146632856,
+                    -0.9340215635714305
+                ]
+            ],
+            "translation_vector": [
+                0.5967147620505093,
+                -0.012781639291080681,
+                0.6535454060307151
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909713644777,
+                    -0.9339729271163552,
+                    0.35719260748424286
+                ],
+                [
+                    -0.9999440222568771,
+                    0.01041626535998921,
+                    -0.001858431782225504
+                ],
+                [
+                    -0.0019848880126912207,
+                    -0.35719192716193715,
+                    -0.9340289007251966
+                ]
+            ],
+            "translation_vector": [
+                0.596714063462748,
+                -0.012781639310532718,
+                0.6535426379208273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909713644777,
+                    -0.9339729271163552,
+                    0.35719260748424286
+                ],
+                [
+                    -0.9999440222568771,
+                    0.01041626535998921,
+                    -0.001858431782225504
+                ],
+                [
+                    -0.0019848880126912207,
+                    -0.35719192716193715,
+                    -0.9340289007251966
+                ]
+            ],
+            "translation_vector": [
+                0.596714063462748,
+                -0.012781639310532718,
+                0.6535426379208273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905945333781,
+                    -0.9339722489889979,
+                    0.3571943807290998
+                ],
+                [
+                    -0.9999440222568631,
+                    0.010416265362479912,
+                    -0.0018584317757121063
+                ],
+                [
+                    -0.0019849077505066297,
+                    -0.357193700300456,
+                    -0.9340282225965607
+                ]
+            ],
+            "translation_vector": [
+                0.596713522311014,
+                -0.012781639312520464,
+                0.6535434457802566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909713644777,
+                    -0.9339729271163552,
+                    0.35719260748424286
+                ],
+                [
+                    -0.9999440222568771,
+                    0.01041626535998921,
+                    -0.001858431782225504
+                ],
+                [
+                    -0.0019848880126912207,
+                    -0.35719192716193715,
+                    -0.9340289007251966
+                ]
+            ],
+            "translation_vector": [
+                0.596714063462748,
+                -0.012781639310532718,
+                0.6535426379208273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909713644777,
+                    -0.9339729271163552,
+                    0.35719260748424286
+                ],
+                [
+                    -0.9999440222568771,
+                    0.01041626535998921,
+                    -0.001858431782225504
+                ],
+                [
+                    -0.0019848880126912207,
+                    -0.35719192716193715,
+                    -0.9340289007251966
+                ]
+            ],
+            "translation_vector": [
+                0.596714063462748,
+                -0.012781639310532718,
+                0.6535426379208273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039291654741763,
+                    -0.9339741515041333,
+                    0.3571894057888236
+                ],
+                [
+                    -0.9999440222566401,
+                    0.010416265374503516,
+                    -0.0018584318281853751
+                ],
+                [
+                    -0.0019848523497999824,
+                    -0.35718872565883475,
+                    -0.9340301251155487
+                ]
+            ],
+            "translation_vector": [
+                0.5967131680930177,
+                -0.012781639318646154,
+                0.6535429620068874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039294835189846,
+                    -0.9339798588905598,
+                    0.3571744809071953
+                ],
+                [
+                    -0.9999440222559716,
+                    0.010416265410575871,
+                    -0.0018584319856045713
+                ],
+                [
+                    -0.001984686147341342,
+                    -0.35717380167317153,
+                    -0.9340358325135232
+                ]
+            ],
+            "translation_vector": [
+                0.5967121054211301,
+                -0.01278163933702328,
+                0.6535413581102092
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039294835189846,
+                    -0.9339798588905598,
+                    0.3571744809071953
+                ],
+                [
+                    -0.9999440222559716,
+                    0.010416265410575871,
+                    -0.0018584319856045713
+                ],
+                [
+                    -0.001984686147341342,
+                    -0.35717380167317153,
+                    -0.9340358325135232
+                ]
+            ],
+            "translation_vector": [
+                0.5967121054211301,
+                -0.01278163933702328,
+                0.6535413581102092
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392927149206177,
+                    -0.9339760539927724,
+                    0.35718443083841395
+                ],
+                [
+                    -0.9999440222564175,
+                    0.0104162653865272,
+                    -0.0018584318806585832
+                ],
+                [
+                    -0.0019847969490367533,
+                    -0.3571837510070801,
+                    -0.9340320276080387
+                ]
+            ],
+            "translation_vector": [
+                0.5967128138720382,
+                -0.012781639324771847,
+                0.6535424019414595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921848348707,
+                    -0.933975102751765,
+                    0.3571869183148854
+                ],
+                [
+                    -0.9999440222565289,
+                    0.010416265380515217,
+                    -0.0018584318544219614
+                ],
+                [
+                    -0.0019848246494253304,
+                    -0.3571862383342242,
+                    -0.934031076365106
+                ]
+            ],
+            "translation_vector": [
+                0.5967129909829009,
+                -0.012781639321708988,
+                0.6535426819739376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921848348707,
+                    -0.933975102751765,
+                    0.3571869183148854
+                ],
+                [
+                    -0.9999440222565289,
+                    0.010416265380515217,
+                    -0.0018584318544219614
+                ],
+                [
+                    -0.0019848246494253304,
+                    -0.3571862383342242,
+                    -0.934031076365106
+                ]
+            ],
+            "translation_vector": [
+                0.5967129909829009,
+                -0.012781639321708988,
+                0.6535426819739376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905945333781,
+                    -0.9339722489889979,
+                    0.3571943807290998
+                ],
+                [
+                    -0.9999440222568631,
+                    0.010416265362479912,
+                    -0.0018584317757121063
+                ],
+                [
+                    -0.0019849077505066297,
+                    -0.357193700300456,
+                    -0.9340282225965607
+                ]
+            ],
+            "translation_vector": [
+                0.596713522311014,
+                -0.012781639312520464,
+                0.653543522074202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039291313054634,
+                    -0.9339735393116159,
+                    0.3571910066370577
+                ],
+                [
+                    -0.9999440222567584,
+                    0.010416265367246115,
+                    -0.001858431805205707
+                ],
+                [
+                    -0.001984870181248107,
+                    -0.3571903264109104,
+                    -0.9340295129217444
+                ]
+            ],
+            "translation_vector": [
+                0.5967136157781998,
+                -0.01278163931458944,
+                0.6535427999639182
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039291313054634,
+                    -0.9339735393116159,
+                    0.3571910066370577
+                ],
+                [
+                    -0.9999440222567584,
+                    0.010416265367246115,
+                    -0.001858431805205707
+                ],
+                [
+                    -0.001984870181248107,
+                    -0.3571903264109104,
+                    -0.9340295129217444
+                ]
+            ],
+            "translation_vector": [
+                0.5967136157781998,
+                -0.01278163931458944,
+                0.6535427999639182
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392904061164393,
+                    -0.9339719099240572,
+                    0.35719526735104523
+                ],
+                [
+                    -0.999944022256856,
+                    0.010416265363725453,
+                    -0.0018584317724553657
+                ],
+                [
+                    -0.001984917619411711,
+                    -0.35719458686923256,
+                    -0.9340278835309804
+                ]
+            ],
+            "translation_vector": [
+                0.5967132517345177,
+                -0.012781639313514347,
+                0.6535439641505041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392911246412508,
+                    -0.9339732002498777,
+                    0.3571918932602282
+                ],
+                [
+                    -0.9999440222567515,
+                    0.010416265368491667,
+                    -0.0018584318019486882
+                ],
+                [
+                    -0.0019848800501604045,
+                    -0.3571912129809119,
+                    -0.934029173859367
+                ]
+            ],
+            "translation_vector": [
+                0.5967133452023887,
+                -0.0127816393155833,
+                0.6535433183342542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392911246412508,
+                    -0.9339732002498777,
+                    0.3571918932602282
+                ],
+                [
+                    -0.9999440222567515,
+                    0.010416265368491667,
+                    -0.0018584318019486882
+                ],
+                [
+                    -0.0019848800501604045,
+                    -0.3571912129809119,
+                    -0.934029173859367
+                ]
+            ],
+            "translation_vector": [
+                0.5967133452023887,
+                -0.0127816393155833,
+                0.6535433183342542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434040828532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392911246412508,
+                    -0.9339732002498777,
+                    0.3571918932602282
+                ],
+                [
+                    -0.9999440222567515,
+                    0.010416265368491667,
+                    -0.0018584318019486882
+                ],
+                [
+                    -0.0019848800501604045,
+                    -0.3571912129809119,
+                    -0.934029173859367
+                ]
+            ],
+            "translation_vector": [
+                0.5967133452023887,
+                -0.0127816393155833,
+                0.6535432420403089
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392911246412508,
+                    -0.9339732002498777,
+                    0.3571918932602282
+                ],
+                [
+                    -0.9999440222567515,
+                    0.010416265368491667,
+                    -0.0018584318019486882
+                ],
+                [
+                    -0.0019848800501604045,
+                    -0.3571912129809119,
+                    -0.934029173859367
+                ]
+            ],
+            "translation_vector": [
+                0.5967133452023887,
+                -0.0127816393155833,
+                0.6535432420403089
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905945333781,
+                    -0.9339722489889979,
+                    0.3571943807290998
+                ],
+                [
+                    -0.9999440222568631,
+                    0.010416265362479912,
+                    -0.0018584317757121063
+                ],
+                [
+                    -0.0019849077505066297,
+                    -0.357193700300456,
+                    -0.9340282225965607
+                ]
+            ],
+            "translation_vector": [
+                0.596713522311014,
+                -0.012781639312520464,
+                0.653543522074202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392907829494018,
+                    -0.9339725880530971,
+                    0.35719349410683227
+                ],
+                [
+                    -0.9999440222568698,
+                    0.010416265361234536,
+                    -0.0018584317789688898
+                ],
+                [
+                    -0.00198489788159967,
+                    -0.35719281373135753,
+                    -0.9340285616612994
+                ]
+            ],
+            "translation_vector": [
+                0.5967137928870909,
+                -0.012781639311526594,
+                0.6535430799976432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392907829494018,
+                    -0.9339725880530971,
+                    0.35719349410683227
+                ],
+                [
+                    -0.9999440222568698,
+                    0.010416265361234536,
+                    -0.0018584317789688898
+                ],
+                [
+                    -0.00198489788159967,
+                    -0.35719281373135753,
+                    -0.9340285616612994
+                ]
+            ],
+            "translation_vector": [
+                0.5967137928870909,
+                -0.012781639311526594,
+                0.6535430799976432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884740280947,
+                    -0.9339684438792376,
+                    0.35720433057925166
+                ],
+                [
+                    -0.9999440222573087,
+                    0.010416265338433683,
+                    -0.001858431670765276
+                ],
+                [
+                    -0.0019850185517506233,
+                    -0.35720364955329814,
+                    -0.9340244174790905
+                ]
+            ],
+            "translation_vector": [
+                0.5967142307380575,
+                -0.012781639300269126,
+                0.6535446422144912
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884740280947,
+                    -0.9339684438792376,
+                    0.35720433057925166
+                ],
+                [
+                    -0.9999440222573087,
+                    0.010416265338433683,
+                    -0.001858431670765276
+                ],
+                [
+                    -0.0019850185517506233,
+                    -0.35720364955329814,
+                    -0.9340244174790905
+                ]
+            ],
+            "translation_vector": [
+                0.5967142307380575,
+                -0.012781639300269126,
+                0.6535446422144912
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392813931091293,
+                    -0.9339557374354764,
+                    0.3572375539188873
+                ],
+                [
+                    -0.9999440222587497,
+                    0.01041626526153665,
+                    -0.0018584313264301785
+                ],
+                [
+                    -0.0019853885230524475,
+                    -0.3572368708985083,
+                    -0.9340117110095868
+                ]
+            ],
+            "translation_vector": [
+                0.596716262462524,
+                -0.012781639261446614,
+                0.6535488010956539
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039284574413976,
+                    -0.9339614455912165,
+                    0.35722262933149135
+                ],
+                [
+                    -0.9999440222580813,
+                    0.010416265297600976,
+                    -0.0018584314838515047
+                ],
+                [
+                    -0.001985222322233249,
+                    -0.3572219472070767,
+                    -0.934017419176921
+                ]
+            ],
+            "translation_vector": [
+                0.5967151998772504,
+                -0.012781639279823355,
+                0.6535471208502527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039284574413976,
+                    -0.9339614455912165,
+                    0.35722262933149135
+                ],
+                [
+                    -0.9999440222580813,
+                    0.010416265297600976,
+                    -0.0018584314838515047
+                ],
+                [
+                    -0.001985222322233249,
+                    -0.3572219472070767,
+                    -0.934017419176921
+                ]
+            ],
+            "translation_vector": [
+                0.5967151998772504,
+                -0.012781639279823355,
+                0.6535471208502527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392852930488475,
+                    -0.933962736015874,
+                    0.35721925527847564
+                ],
+                [
+                    -0.999944022257977,
+                    0.010416265302366279,
+                    -0.0018584315133448922
+                ],
+                [
+                    -0.001985184753192579,
+                    -0.35721857335655743,
+                    -0.9340187096041502
+                ]
+            ],
+            "translation_vector": [
+                0.5967152933562492,
+                -0.012781639281892247,
+                0.6535463224390747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392900644181226,
+                    -0.9339712977214939,
+                    0.3571968681954377
+                ],
+                [
+                    -0.9999440222569743,
+                    0.010416265356468384,
+                    -0.0018584317494752295
+                ],
+                [
+                    -0.0019849354508390403,
+                    -0.3571961876174665,
+                    -0.9340272713271299
+                ]
+            ],
+            "translation_vector": [
+                0.5967136994188935,
+                -0.012781639309457613,
+                0.6535438021085668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.6535441678910917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.6535441678910917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392907829494018,
+                    -0.9339725880530971,
+                    0.35719349410683227
+                ],
+                [
+                    -0.9999440222568698,
+                    0.010416265361234536,
+                    -0.0018584317789688898
+                ],
+                [
+                    -0.00198489788159967,
+                    -0.35719281373135753,
+                    -0.9340285616612994
+                ]
+            ],
+            "translation_vector": [
+                0.5967137928870909,
+                -0.012781639311526594,
+                0.6535430037036979
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287225298481,
+                    -0.9339662022055055,
+                    0.35721019210565436
+                ],
+                [
+                    -0.9999440222575244,
+                    0.01041626532765659,
+                    -0.0018584316150351975
+                ],
+                [
+                    -0.0019850838211626846,
+                    -0.35720951072787693,
+                    -0.934022175800861
+                ]
+            ],
+            "translation_vector": [
+                0.5967143143690132,
+                -0.012781639295137382,
+                0.6535456443647765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287225298481,
+                    -0.9339662022055055,
+                    0.35721019210565436
+                ],
+                [
+                    -0.9999440222575244,
+                    0.01041626532765659,
+                    -0.0018584316150351975
+                ],
+                [
+                    -0.0019850838211626846,
+                    -0.35720951072787693,
+                    -0.934022175800861
+                ]
+            ],
+            "translation_vector": [
+                0.5967143143690132,
+                -0.012781639295137382,
+                0.6535456443647765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392874137311853,
+                    -0.9339665412846127,
+                    0.3572093054891268
+                ],
+                [
+                    -0.9999440222575314,
+                    0.010416265326410929,
+                    -0.001858431618291835
+                ],
+                [
+                    -0.0019850739522877673,
+                    -0.3572086241645183,
+                    -0.9340225148806084
+                ]
+            ],
+            "translation_vector": [
+                0.5967145849471045,
+                -0.01278163929414348,
+                0.6535451259935203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392874137311853,
+                    -0.9339665412846127,
+                    0.3572093054891268
+                ],
+                [
+                    -0.9999440222575314,
+                    0.010416265326410929,
+                    -0.001858431618291835
+                ],
+                [
+                    -0.0019850739522877673,
+                    -0.3572086241645183,
+                    -0.9340225148806084
+                ]
+            ],
+            "translation_vector": [
+                0.5967145849471045,
+                -0.01278163929414348,
+                0.6535452022874657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392874137311853,
+                    -0.9339665412846127,
+                    0.3572093054891268
+                ],
+                [
+                    -0.9999440222575314,
+                    0.010416265326410929,
+                    -0.001858431618291835
+                ],
+                [
+                    -0.0019850739522877673,
+                    -0.3572086241645183,
+                    -0.9340225148806084
+                ]
+            ],
+            "translation_vector": [
+                0.5967145849471045,
+                -0.01278163929414348,
+                0.6535452022874657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884740280947,
+                    -0.9339684438792376,
+                    0.35720433057925166
+                ],
+                [
+                    -0.9999440222573087,
+                    0.010416265338433683,
+                    -0.001858431670765276
+                ],
+                [
+                    -0.0019850185517506233,
+                    -0.35720364955329814,
+                    -0.9340244174790905
+                ]
+            ],
+            "translation_vector": [
+                0.5967142307380575,
+                -0.012781639300269126,
+                0.6535446422144912
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868484302044,
+                    -0.9339655240447658,
+                    0.357211965337744
+                ],
+                [
+                    -0.9999440222575103,
+                    0.010416265330147405,
+                    -0.0018584316085218469
+                ],
+                [
+                    -0.0019851035589069158,
+                    -0.35721128385362855,
+                    -0.9340214976388406
+                ]
+            ],
+            "translation_vector": [
+                0.5967137732115716,
+                -0.012781639297125145,
+                0.6535465285186274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868484302044,
+                    -0.9339655240447658,
+                    0.357211965337744
+                ],
+                [
+                    -0.9999440222575103,
+                    0.010416265330147405,
+                    -0.0018584316085218469
+                ],
+                [
+                    -0.0019851035589069158,
+                    -0.35721128385362855,
+                    -0.9340214976388406
+                ]
+            ],
+            "translation_vector": [
+                0.5967137732115716,
+                -0.012781639297125145,
+                0.6535465285186274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392863182628047,
+                    -0.9339645727304345,
+                    0.35721445278617253
+                ],
+                [
+                    -0.9999440222576222,
+                    0.010416265324136233,
+                    -0.001858431582285169
+                ],
+                [
+                    -0.001985131259139243,
+                    -0.35721377115272973,
+                    -0.9340205463225796
+                ]
+            ],
+            "translation_vector": [
+                0.596713950314179,
+                -0.012781639294062348,
+                0.6535468848502719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.653544924596283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.653544924596283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392932098636657,
+                    -0.9339769393000666,
+                    0.3571821157589963
+                ],
+                [
+                    -0.999944022256174,
+                    0.01041626540228769,
+                    -0.0018584319233612796
+                ],
+                [
+                    -0.0019847711550178638,
+                    -0.3571814360668103,
+                    -0.9340329129172664
+                ]
+            ],
+            "translation_vector": [
+                0.5967116479221124,
+                -0.012781639333879182,
+                0.6535431681030277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039294388128729,
+                    -0.933979048945505,
+                    0.3571765989651772
+                ],
+                [
+                    -0.9999440222556939,
+                    0.01041626543256352,
+                    -0.0018584320120234958
+                ],
+                [
+                    -0.0019847096980019855,
+                    -0.35717591960445627,
+                    -0.9340350225672089
+                ]
+            ],
+            "translation_vector": [
+                0.596709586588746,
+                -0.012781639351100028,
+                0.6535443346402166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039294388128729,
+                    -0.933979048945505,
+                    0.3571765989651772
+                ],
+                [
+                    -0.9999440222556939,
+                    0.01041626543256352,
+                    -0.0018584320120234958
+                ],
+                [
+                    -0.0019847096980019855,
+                    -0.35717591960445627,
+                    -0.9340350225672089
+                ]
+            ],
+            "translation_vector": [
+                0.596709586588746,
+                -0.012781639351100028,
+                0.6535443346402166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392913960559382,
+                    -0.9339736805866234,
+                    0.35719063721055855
+                ],
+                [
+                    -0.9999440222563691,
+                    0.010416265395245193,
+                    -0.0018584318578612927
+                ],
+                [
+                    -0.0019848660314757656,
+                    -0.35718995700704165,
+                    -0.9340296541974166
+                ]
+            ],
+            "translation_vector": [
+                0.5967109198351941,
+                -0.012781639331728998,
+                0.6535454964654731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392913960559382,
+                    -0.9339736805866234,
+                    0.35719063721055855
+                ],
+                [
+                    -0.9999440222563691,
+                    0.010416265395245193,
+                    -0.0018584318578612927
+                ],
+                [
+                    -0.0019848660314757656,
+                    -0.35718995700704165,
+                    -0.9340296541974166
+                ]
+            ],
+            "translation_vector": [
+                0.5967109198351941,
+                -0.012781639331728998,
+                0.6535454964654731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928719015733,
+                    -0.9339661362732027,
+                    0.35721036450324783
+                ],
+                [
+                    -0.9999440222573923,
+                    0.010416265337404227,
+                    -0.0018584316315019465
+                ],
+                [
+                    -0.0019850857275349357,
+                    -0.3572096831152909,
+                    -0.9340221098685665
+                ]
+            ],
+            "translation_vector": [
+                0.596713325529134,
+                -0.012781639301181865,
+                0.6535466905577721
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392901825603037,
+                    -0.9339715049285631,
+                    0.3571963263712536
+                ],
+                [
+                    -0.9999440222567171,
+                    0.010416265374718996,
+                    -0.0018584317856649595
+                ],
+                [
+                    -0.0019849293946932176,
+                    -0.35719564582609215,
+                    -0.9340274785348553
+                ]
+            ],
+            "translation_vector": [
+                0.5967119923170396,
+                -0.012781639320552707,
+                0.653545376124465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392901825603037,
+                    -0.9339715049285631,
+                    0.3571963263712536
+                ],
+                [
+                    -0.9999440222567171,
+                    0.010416265374718996,
+                    -0.0018584317856649595
+                ],
+                [
+                    -0.0019849293946932176,
+                    -0.35719564582609215,
+                    -0.9340274785348553
+                ]
+            ],
+            "translation_vector": [
+                0.5967119923170396,
+                -0.012781639320552707,
+                0.653545376124465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392855996472355,
+                    -0.9339632823231245,
+                    0.3572178268458237
+                ],
+                [
+                    -0.9999440222577264,
+                    0.01041626531937072,
+                    -0.0018584315527915736
+                ],
+                [
+                    -0.0019851688282170885,
+                    -0.35721714500988433,
+                    -0.9340192559126987
+                ]
+            ],
+            "translation_vector": [
+                0.5967138568361586,
+                -0.012781639291993423,
+                0.6535474543774284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896524392835,
+                    -0.9339705536558777,
+                    0.3571988138356096
+                ],
+                [
+                    -0.9999440222568282,
+                    0.01041626536870734,
+                    -0.0018584317594282584
+                ],
+                [
+                    -0.001984957095014333,
+                    -0.35719813314112087,
+                    -0.9340265272602428
+                ]
+            ],
+            "translation_vector": [
+                0.5967121694243357,
+                -0.012781639317489863,
+                0.653545732453144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896524392835,
+                    -0.9339705536558777,
+                    0.3571988138356096
+                ],
+                [
+                    -0.9999440222568282,
+                    0.01041626536870734,
+                    -0.0018584317594282584
+                ],
+                [
+                    -0.001984957095014333,
+                    -0.35719813314112087,
+                    -0.9340265272602428
+                ]
+            ],
+            "translation_vector": [
+                0.5967121694243357,
+                -0.012781639317489863,
+                0.653545732453144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039285222762846,
+                    -0.9339626041478913,
+                    0.3572196000723698
+                ],
+                [
+                    -0.9999440222577123,
+                    0.010416265321861837,
+                    -0.001858431546278146
+                ],
+                [
+                    -0.001985188565930703,
+                    -0.3572189181300925,
+                    -0.934018577736184
+                ]
+            ],
+            "translation_vector": [
+                0.596713315675136,
+                -0.012781639293981208,
+                0.6535484911183015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392845392702634,
+                    -0.9339613796566185,
+                    0.3572228017282065
+                ],
+                [
+                    -0.9999440222579491,
+                    0.010416265307348353,
+                    -0.0018584315003181049
+                ],
+                [
+                    -0.001985224228600964,
+                    -0.3572221195936123,
+                    -0.9340173532423311
+                ]
+            ],
+            "translation_vector": [
+                0.5967142110371128,
+                -0.012781639285867803,
+                0.6535480907494664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.6535447303092096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.6535447303092096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914311930228,
+                    -0.933973746515285,
+                    0.357190464811573
+                ],
+                [
+                    -0.9999440222565011,
+                    0.010416265385497012,
+                    -0.0018584318413951387
+                ],
+                [
+                    -0.0019848641250953428,
+                    -0.3571897846182356,
+                    -0.9340297201260697
+                ]
+            ],
+            "translation_vector": [
+                0.5967119086775873,
+                -0.01278163932568452,
+                0.6535444502755873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919612892987,
+                    -0.9339746977657367,
+                    0.35718797733871355
+                ],
+                [
+                    -0.9999440222563898,
+                    0.010416265391509071,
+                    -0.0018584318676316438
+                ],
+                [
+                    -0.001984836424726924,
+                    -0.3571872972947036,
+                    -0.9340306713784471
+                ]
+            ],
+            "translation_vector": [
+                0.596711731567788,
+                -0.012781639328747374,
+                0.6535440939484914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919612892987,
+                    -0.9339746977657367,
+                    0.35718797733871355
+                ],
+                [
+                    -0.9999440222563898,
+                    0.010416265391509071,
+                    -0.0018584318676316438
+                ],
+                [
+                    -0.001984836424726924,
+                    -0.3571872972947036,
+                    -0.9340306713784471
+                ]
+            ],
+            "translation_vector": [
+                0.596711731567788,
+                -0.012781639328747374,
+                0.6535440939484914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.6535446540152643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914311930228,
+                    -0.933973746515285,
+                    0.357190464811573
+                ],
+                [
+                    -0.9999440222565011,
+                    0.010416265385497012,
+                    -0.0018584318413951387
+                ],
+                [
+                    -0.0019848641250953428,
+                    -0.3571897846182356,
+                    -0.9340297201260697
+                ]
+            ],
+            "translation_vector": [
+                0.5967119086775873,
+                -0.01278163932568452,
+                0.6535444502755873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914311930228,
+                    -0.933973746515285,
+                    0.357190464811573
+                ],
+                [
+                    -0.9999440222565011,
+                    0.010416265385497012,
+                    -0.0018584318413951387
+                ],
+                [
+                    -0.0019848641250953428,
+                    -0.3571897846182356,
+                    -0.9340297201260697
+                ]
+            ],
+            "translation_vector": [
+                0.5967119086775873,
+                -0.01278163932568452,
+                0.6535444502755873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392901825603037,
+                    -0.9339715049285631,
+                    0.3571963263712536
+                ],
+                [
+                    -0.9999440222567171,
+                    0.010416265374718996,
+                    -0.0018584317856649595
+                ],
+                [
+                    -0.0019849293946932176,
+                    -0.35719564582609215,
+                    -0.9340274785348553
+                ]
+            ],
+            "translation_vector": [
+                0.5967119923170396,
+                -0.012781639320552707,
+                0.653545376124465
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392880620319504,
+                    -0.9339676997980775,
+                    0.3572062762134788
+                ],
+                [
+                    -0.9999440222571624,
+                    0.01041626535067273,
+                    -0.0018584316807184094
+                ],
+                [
+                    -0.0019850401958928974,
+                    -0.3572055950710076,
+                    -0.9340236733966588
+                ]
+            ],
+            "translation_vector": [
+                0.5967127007417496,
+                -0.01278163930830139,
+                0.6535465725601751
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392880620319504,
+                    -0.9339676997980775,
+                    0.3572062762134788
+                ],
+                [
+                    -0.9999440222571624,
+                    0.01041626535067273,
+                    -0.0018584316807184094
+                ],
+                [
+                    -0.0019850401958928974,
+                    -0.3572055950710076,
+                    -0.9340236733966588
+                ]
+            ],
+            "translation_vector": [
+                0.5967127007417496,
+                -0.01278163930830139,
+                0.6535465725601751
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392840090707145,
+                    -0.9339604283134294,
+                    0.35722528916559765
+                ],
+                [
+                    -0.9999440222580606,
+                    0.01041626530133742,
+                    -0.0018584314740813532
+                ],
+                [
+                    -0.0019852519287718072,
+                    -0.3572246068816762,
+                    -0.9340164018972107
+                ]
+            ],
+            "translation_vector": [
+                0.5967143881364712,
+                -0.01278163928280501,
+                0.6535483707892202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392840090707145,
+                    -0.9339604283134294,
+                    0.35722528916559765
+                ],
+                [
+                    -0.9999440222580606,
+                    0.01041626530133742,
+                    -0.0018584314740813532
+                ],
+                [
+                    -0.0019852519287718072,
+                    -0.3572246068816762,
+                    -0.9340164018972107
+                ]
+            ],
+            "translation_vector": [
+                0.5967143881364712,
+                -0.01278163928280501,
+                0.6535483707892202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868484302044,
+                    -0.9339655240447658,
+                    0.357211965337744
+                ],
+                [
+                    -0.9999440222575103,
+                    0.010416265330147405,
+                    -0.0018584316085218469
+                ],
+                [
+                    -0.0019851035589069158,
+                    -0.35721128385362855,
+                    -0.9340214976388406
+                ]
+            ],
+            "translation_vector": [
+                0.5967137732115716,
+                -0.012781639297125145,
+                0.6535465285186274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287755453234,
+                    -0.9339671535084909,
+                    0.3572077046528866
+                ],
+                [
+                    -0.9999440222574129,
+                    0.010416265333667678,
+                    -0.0018584316412721608
+                ],
+                [
+                    -0.001985056120905843,
+                    -0.35720702342443655,
+                    -0.9340231271057752
+                ]
+            ],
+            "translation_vector": [
+                0.5967141372651285,
+                -0.012781639298200207,
+                0.6535453643278852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287755453234,
+                    -0.9339671535084909,
+                    0.3572077046528866
+                ],
+                [
+                    -0.9999440222574129,
+                    0.010416265333667678,
+                    -0.0018584316412721608
+                ],
+                [
+                    -0.001985056120905843,
+                    -0.35720702342443655,
+                    -0.9340231271057752
+                ]
+            ],
+            "translation_vector": [
+                0.5967141372651285,
+                -0.012781639298200207,
+                0.6535453643278852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535445242200415
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535433277889079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535433277889079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535434040828532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392941167350752,
+                    -0.9339785686276364,
+                    0.3571778550220663
+                ],
+                [
+                    -0.9999440222560765,
+                    0.010416265405809144,
+                    -0.0018584319561113978
+                ],
+                [
+                    -0.0019847237167267173,
+                    -0.357177175585546,
+                    -0.9340345422480374
+                ]
+            ],
+            "translation_vector": [
+                0.5967120119603402,
+                -0.01278163933495431,
+                0.6535419276280352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392941167350752,
+                    -0.9339785686276364,
+                    0.3571778550220663
+                ],
+                [
+                    -0.9999440222560765,
+                    0.010416265405809144,
+                    -0.0018584319561113978
+                ],
+                [
+                    -0.0019847237167267173,
+                    -0.357177175585546,
+                    -0.9340345422480374
+                ]
+            ],
+            "translation_vector": [
+                0.5967120119603402,
+                -0.01278163933495431,
+                0.6535419276280352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535433277889079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039283137103447,
+                    -0.9339588647053387,
+                    0.3572293774235381
+                ],
+                [
+                    -0.9999440222582903,
+                    0.010416265288070346,
+                    -0.001858431424864287
+                ],
+                [
+                    -0.001985297460236847,
+                    -0.35722869489413067,
+                    -0.9340148382858974
+                ]
+            ],
+            "translation_vector": [
+                0.5967150129141616,
+                -0.01278163927568553,
+                0.6535484887924257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039282076657986,
+                    -0.9339569619773144,
+                    0.3572343522823912
+                ],
+                [
+                    -0.999944022258513,
+                    0.010416265276048945,
+                    -0.0018584313723906943
+                ],
+                [
+                    -0.001985352860489643,
+                    -0.35723366945432905,
+                    -0.9340129355540079
+                ]
+            ],
+            "translation_vector": [
+                0.5967153671081895,
+                -0.01278163926955997,
+                0.6535490488748986
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039282076657986,
+                    -0.9339569619773144,
+                    0.3572343522823912
+                ],
+                [
+                    -0.999944022258513,
+                    0.010416265276048945,
+                    -0.0018584313723906943
+                ],
+                [
+                    -0.001985352860489643,
+                    -0.35723366945432905,
+                    -0.9340129355540079
+                ]
+            ],
+            "translation_vector": [
+                0.5967153671081895,
+                -0.01278163926955997,
+                0.6535490488748986
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392838557654922,
+                    -0.9339601551543713,
+                    0.3572260033798456
+                ],
+                [
+                    -0.9999440222581856,
+                    0.010416265292835522,
+                    -0.0018584314543579053
+                ],
+                [
+                    -0.001985259891247971,
+                    -0.35722532105293464,
+                    -0.9340161287375032
+                ]
+            ],
+            "translation_vector": [
+                0.5967151063965545,
+                -0.012781639277754431,
+                0.6535477666740912
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891223108814,
+                    -0.9339696023765688,
+                    0.357201301297433
+                ],
+                [
+                    -0.9999440222569398,
+                    0.01041626536269568,
+                    -0.001858431733191837
+                ],
+                [
+                    -0.001984984795321197,
+                    -0.3572006204536168,
+                    -0.9340255759790063
+                ]
+            ],
+            "translation_vector": [
+                0.5967123465308862,
+                -0.012781639314427051,
+                0.6535460887822946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535437698646169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535437698646169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440844945055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535433277889079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392914663300832,
+                    -0.9339738124439149,
+                    0.3571902924125751
+                ],
+                [
+                    -0.9999440222566335,
+                    0.01041626537574908,
+                    -0.0018584318249285226
+                ],
+                [
+                    -0.001984862218715267,
+                    -0.3571896122294173,
+                    -0.9340297860546909
+                ]
+            ],
+            "translation_vector": [
+                0.596712897517053,
+                -0.012781639319640032,
+                0.6535433277889079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392929033261295,
+                    -0.9339763930474274,
+                    0.3571835442125345
+                ],
+                [
+                    -0.9999440222564244,
+                    0.010416265385282014,
+                    -0.0018584318839152424
+                ],
+                [
+                    -0.001984787080109915,
+                    -0.35718286443436964,
+                    -0.9340323666633324
+                ]
+            ],
+            "translation_vector": [
+                0.5967130844470518,
+                -0.01278163932377798,
+                0.6535419598655732
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392963901820464,
+                    -0.9339826465700133,
+                    0.35716719083282245
+                ],
+                [
+                    -0.9999440222555057,
+                    0.01041626543836164,
+                    -0.0018584320807801405
+                ],
+                [
+                    -0.00198460495231105,
+                    -0.3571665120366017,
+                    -0.9340386201987539
+                ]
+            ],
+            "translation_vector": [
+                0.5967105852371111,
+                -0.012781639352256397,
+                0.6535414879206982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392963901820464,
+                    -0.9339826465700133,
+                    0.35716719083282245
+                ],
+                [
+                    -0.9999440222555057,
+                    0.01041626543836164,
+                    -0.0018584320807801405
+                ],
+                [
+                    -0.00198460495231105,
+                    -0.3571665120366017,
+                    -0.9340386201987539
+                ]
+            ],
+            "translation_vector": [
+                0.5967105852371111,
+                -0.012781639352256397,
+                0.6535414879206982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921848348707,
+                    -0.933975102751765,
+                    0.3571869183148854
+                ],
+                [
+                    -0.9999440222565289,
+                    0.010416265380515217,
+                    -0.0018584318544219614
+                ],
+                [
+                    -0.0019848246494253304,
+                    -0.3571862383342242,
+                    -0.934031076365106
+                ]
+            ],
+            "translation_vector": [
+                0.5967129909829009,
+                -0.012781639321708988,
+                0.6535426819739376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392900644181226,
+                    -0.9339712977214939,
+                    0.3571968681954377
+                ],
+                [
+                    -0.9999440222569743,
+                    0.010416265356468384,
+                    -0.0018584317494752295
+                ],
+                [
+                    -0.0019849354508390403,
+                    -0.3571961876174665,
+                    -0.9340272713271299
+                ]
+            ],
+            "translation_vector": [
+                0.5967136994188935,
+                -0.012781639309457613,
+                0.6535438021085668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392900644181226,
+                    -0.9339712977214939,
+                    0.3571968681954377
+                ],
+                [
+                    -0.9999440222569743,
+                    0.010416265356468384,
+                    -0.0018584317494752295
+                ],
+                [
+                    -0.0019849354508390403,
+                    -0.3571961876174665,
+                    -0.9340272713271299
+                ]
+            ],
+            "translation_vector": [
+                0.5967136994188935,
+                -0.012781639309457613,
+                0.6535438021085668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039284574413976,
+                    -0.9339614455912165,
+                    0.35722262933149135
+                ],
+                [
+                    -0.9999440222580813,
+                    0.010416265297600976,
+                    -0.0018584314838515047
+                ],
+                [
+                    -0.001985222322233249,
+                    -0.3572219472070767,
+                    -0.934017419176921
+                ]
+            ],
+            "translation_vector": [
+                0.5967151998772504,
+                -0.012781639279823355,
+                0.6535471208502527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928688357169,
+                    -0.9339655899773641,
+                    0.35721179294026445
+                ],
+                [
+                    -0.9999440222576428,
+                    0.010416265320399833,
+                    -0.0018584315920551504
+                ],
+                [
+                    -0.0019851016525351656,
+                    -0.35721111146632856,
+                    -0.9340215635714305
+                ]
+            ],
+            "translation_vector": [
+                0.5967147620505093,
+                -0.012781639291080681,
+                0.6535454823246605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928688357169,
+                    -0.9339655899773641,
+                    0.35721179294026445
+                ],
+                [
+                    -0.9999440222576428,
+                    0.010416265320399833,
+                    -0.0018584315920551504
+                ],
+                [
+                    -0.0019851016525351656,
+                    -0.35721111146632856,
+                    -0.9340215635714305
+                ]
+            ],
+            "translation_vector": [
+                0.5967147620505093,
+                -0.012781639291080681,
+                0.6535454823246605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039289004165481,
+                    -0.9339693951666138,
+                    0.3572018431205137
+                ],
+                [
+                    -0.9999440222571973,
+                    0.010416265344445204,
+                    -0.001858431697002042
+                ],
+                [
+                    -0.001984990851460786,
+                    -0.3572011622438875,
+                    -0.9340253687683949
+                ]
+            ],
+            "translation_vector": [
+                0.5967140536324153,
+                -0.012781639303331963,
+                0.6535443621787114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392897227167673,
+                    -0.9339706855161871,
+                    0.35719846903878094
+                ],
+                [
+                    -0.9999440222570924,
+                    0.01041626534921123,
+                    -0.0018584317264955434
+                ],
+                [
+                    -0.0019849532822598824,
+                    -0.35719778836465116,
+                    -0.9340266591205355
+                ]
+            ],
+            "translation_vector": [
+                0.5967141471026358,
+                -0.012781639305400914,
+                0.6535436400665082
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392897227167673,
+                    -0.9339706855161871,
+                    0.35719846903878094
+                ],
+                [
+                    -0.9999440222570924,
+                    0.01041626534921123,
+                    -0.0018584317264955434
+                ],
+                [
+                    -0.0019849532822598824,
+                    -0.35719778836465116,
+                    -0.9340266591205355
+                ]
+            ],
+            "translation_vector": [
+                0.5967141471026358,
+                -0.012781639305400914,
+                0.6535436400665082
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.6535443204789823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392964253143172,
+                    -0.9339827124943473,
+                    0.3571670184321824
+                ],
+                [
+                    -0.9999440222556378,
+                    0.010416265428613182,
+                    -0.0018584320643140063
+                ],
+                [
+                    -0.001984603045921549,
+                    -0.3571663396461412,
+                    -0.9340386861230793
+                ]
+            ],
+            "translation_vector": [
+                0.5967115740751184,
+                -0.012781639346211918,
+                0.6535404417273198
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392964253143172,
+                    -0.9339827124943473,
+                    0.3571670184321824
+                ],
+                [
+                    -0.9999440222556378,
+                    0.010416265428613182,
+                    -0.0018584320643140063
+                ],
+                [
+                    -0.001984603045921549,
+                    -0.3571663396461412,
+                    -0.9340386861230793
+                ]
+            ],
+            "translation_vector": [
+                0.5967115740751184,
+                -0.012781639346211918,
+                0.6535404417273198
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392953652386912,
+                    -0.9339808100984464,
+                    0.3571719934180574
+                ],
+                [
+                    -0.9999440222558602,
+                    0.010416265416588008,
+                    -0.001858432011841015
+                ],
+                [
+                    -0.001984658446882127,
+                    -0.35717131433336113,
+                    -0.934036783723333
+                ]
+            ],
+            "translation_vector": [
+                0.5967119283065386,
+                -0.012781639340086132,
+                0.6535410017861442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392925265142135,
+                    -0.9339757149372759,
+                    0.3571853174639713
+                ],
+                [
+                    -0.9999440222564107,
+                    0.01041626538777282,
+                    -0.0018584318774017264
+                ],
+                [
+                    -0.00198480681796213,
+                    -0.3571846375794686,
+                    -0.9340316885519033
+                ]
+            ],
+            "translation_vector": [
+                0.5967125432966052,
+                -0.012781639325765728,
+                0.6535428440170891
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392925265142135,
+                    -0.9339757149372759,
+                    0.3571853174639713
+                ],
+                [
+                    -0.9999440222564107,
+                    0.01041626538777282,
+                    -0.0018584318774017264
+                ],
+                [
+                    -0.00198480681796213,
+                    -0.3571846375794686,
+                    -0.9340316885519033
+                ]
+            ],
+            "translation_vector": [
+                0.5967125432966052,
+                -0.012781639325765728,
+                0.6535428440170891
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392907829494018,
+                    -0.9339725880530971,
+                    0.35719349410683227
+                ],
+                [
+                    -0.9999440222568698,
+                    0.010416265361234536,
+                    -0.0018584317789688898
+                ],
+                [
+                    -0.00198489788159967,
+                    -0.35719281373135753,
+                    -0.9340285616612994
+                ]
+            ],
+            "translation_vector": [
+                0.5967137928870909,
+                -0.012781639311526594,
+                0.6535430799976432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392923381068273,
+                    -0.9339753758809377,
+                    0.3571862040892075
+                ],
+                [
+                    -0.9999440222564037,
+                    0.010416265389018135,
+                    -0.001858431874144891
+                ],
+                [
+                    -0.001984816686885608,
+                    -0.35718552415153576,
+                    -0.9340313494949263
+                ]
+            ],
+            "translation_vector": [
+                0.5967122727207524,
+                -0.012781639326759586,
+                0.6535432860924619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392923381068273,
+                    -0.9339753758809377,
+                    0.3571862040892075
+                ],
+                [
+                    -0.9999440222564037,
+                    0.010416265389018135,
+                    -0.001858431874144891
+                ],
+                [
+                    -0.001984816686885608,
+                    -0.35718552415153576,
+                    -0.9340313494949263
+                ]
+            ],
+            "translation_vector": [
+                0.5967122727207524,
+                -0.012781639326759586,
+                0.6535432860924619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039291313054634,
+                    -0.9339735393116159,
+                    0.3571910066370577
+                ],
+                [
+                    -0.9999440222567584,
+                    0.010416265367246115,
+                    -0.001858431805205707
+                ],
+                [
+                    -0.001984870181248107,
+                    -0.3571903264109104,
+                    -0.9340295129217444
+                ]
+            ],
+            "translation_vector": [
+                0.5967136157781998,
+                -0.01278163931458944,
+                0.6535427999639182
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392946467939432,
+                    -0.933979519844508,
+                    0.35717536753636464
+                ],
+                [
+                    -0.9999440222559649,
+                    0.010416265411821373,
+                    -0.0018584319823480014
+                ],
+                [
+                    -0.0019846960162865674,
+                    -0.35717468824917187,
+                    -0.9340354934668329
+                ]
+            ],
+            "translation_vector": [
+                0.5967118348467603,
+                -0.012781639338017183,
+                0.6535417238912209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392946467939432,
+                    -0.933979519844508,
+                    0.35717536753636464
+                ],
+                [
+                    -0.9999440222559649,
+                    0.010416265411821373,
+                    -0.0018584319823480014
+                ],
+                [
+                    -0.0019846960162865674,
+                    -0.35717468824917187,
+                    -0.9340354934668329
+                ]
+            ],
+            "translation_vector": [
+                0.5967118348467603,
+                -0.012781639338017183,
+                0.6535417238912209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290747811678,
+                    -0.9339725221238766,
+                    0.35719366650560397
+                ],
+                [
+                    -0.9999440222567378,
+                    0.010416265370982456,
+                    -0.0018584317954352851
+                ],
+                [
+                    -0.0019848997879787895,
+                    -0.35719298611994965,
+                    -0.9340284957320872
+                ]
+            ],
+            "translation_vector": [
+                0.596712804049508,
+                -0.012781639317571059,
+                0.65354412619232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392927149206177,
+                    -0.9339760539927724,
+                    0.35718443083841395
+                ],
+                [
+                    -0.9999440222564175,
+                    0.0104162653865272,
+                    -0.0018584318806585832
+                ],
+                [
+                    -0.0019847969490367533,
+                    -0.3571837510070801,
+                    -0.9340320276080387
+                ]
+            ],
+            "translation_vector": [
+                0.5967128138720382,
+                -0.012781639324771847,
+                0.6535424019414595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392927149206177,
+                    -0.9339760539927724,
+                    0.35718443083841395
+                ],
+                [
+                    -0.9999440222564175,
+                    0.0104162653865272,
+                    -0.0018584318806585832
+                ],
+                [
+                    -0.0019847969490367533,
+                    -0.3571837510070801,
+                    -0.9340320276080387
+                ]
+            ],
+            "translation_vector": [
+                0.5967128138720382,
+                -0.012781639324771847,
+                0.6535424019414595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392919964258313,
+                    -0.9339747636939073,
+                    0.35718780493954017
+                ],
+                [
+                    -0.9999440222565218,
+                    0.010416265381760848,
+                    -0.0018584318511652704
+                ],
+                [
+                    -0.0019848345183455926,
+                    -0.35718712490570975,
+                    -0.9340307373066092
+                ]
+            ],
+            "translation_vector": [
+                0.596712720407202,
+                -0.012781639322702884,
+                0.6535431240497354
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392895342955068,
+                    -0.9339703464473658,
+                    0.3571993556592425
+                ],
+                [
+                    -0.9999440222570856,
+                    0.010416265350456854,
+                    -0.0018584317232387421
+                ],
+                [
+                    -0.0019849631511568624,
+                    -0.35719867493194385,
+                    -0.9340263200510744
+                ]
+            ],
+            "translation_vector": [
+                0.5967138765260274,
+                -0.012781639306394801,
+                0.6535440821434033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392895342955068,
+                    -0.9339703464473658,
+                    0.3571993556592425
+                ],
+                [
+                    -0.9999440222570856,
+                    0.010416265350456854,
+                    -0.0018584317232387421
+                ],
+                [
+                    -0.0019849631511568624,
+                    -0.35719867493194385,
+                    -0.9340263200510744
+                ]
+            ],
+            "translation_vector": [
+                0.5967138765260274,
+                -0.012781639306394801,
+                0.6535440821434033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392904061164393,
+                    -0.9339719099240572,
+                    0.35719526735104523
+                ],
+                [
+                    -0.999944022256856,
+                    0.010416265363725453,
+                    -0.0018584317724553657
+                ],
+                [
+                    -0.001984917619411711,
+                    -0.35719458686923256,
+                    -0.9340278835309804
+                ]
+            ],
+            "translation_vector": [
+                0.5967132517345177,
+                -0.012781639313514347,
+                0.6535439641505041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392900644181226,
+                    -0.9339712977214939,
+                    0.3571968681954377
+                ],
+                [
+                    -0.9999440222569743,
+                    0.010416265356468384,
+                    -0.0018584317494752295
+                ],
+                [
+                    -0.0019849354508390403,
+                    -0.3571961876174665,
+                    -0.9340272713271299
+                ]
+            ],
+            "translation_vector": [
+                0.5967136994188935,
+                -0.012781639309457613,
+                0.6535438021085668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392895342955068,
+                    -0.9339703464473658,
+                    0.3571993556592425
+                ],
+                [
+                    -0.9999440222570856,
+                    0.010416265350456854,
+                    -0.0018584317232387421
+                ],
+                [
+                    -0.0019849631511568624,
+                    -0.35719867493194385,
+                    -0.9340263200510744
+                ]
+            ],
+            "translation_vector": [
+                0.5967138765260274,
+                -0.012781639306394801,
+                0.6535441584373486
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535457647023054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039289004165481,
+                    -0.9339693951666138,
+                    0.3572018431205137
+                ],
+                [
+                    -0.9999440222571973,
+                    0.010416265344445204,
+                    -0.001858431697002042
+                ],
+                [
+                    -0.001984990851460786,
+                    -0.3572011622438875,
+                    -0.9340253687683949
+                ]
+            ],
+            "translation_vector": [
+                0.5967140536324153,
+                -0.012781639303331963,
+                0.6535443621787114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039289004165481,
+                    -0.9339693951666138,
+                    0.3572018431205137
+                ],
+                [
+                    -0.9999440222571973,
+                    0.010416265344445204,
+                    -0.001858431697002042
+                ],
+                [
+                    -0.001984990851460786,
+                    -0.3572011622438875,
+                    -0.9340253687683949
+                ]
+            ],
+            "translation_vector": [
+                0.5967140536324153,
+                -0.012781639303331963,
+                0.6535443621787114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535446005139868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535450425903683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535445242200415
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535454500742381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535448900024777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535451700381221
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535453226260126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392868132887227,
+                    -0.9339654581121359,
+                    0.35721213773521215
+                ],
+                [
+                    -0.9999440222573781,
+                    0.010416265339895385,
+                    -0.0018584316249883484
+                ],
+                [
+                    -0.001985105465278967,
+                    -0.3572114562409171,
+                    -0.9340214317062189
+                ]
+            ],
+            "translation_vector": [
+                0.5967127843697063,
+                -0.012781639303169636,
+                0.6535475747097459
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039283785476695,
+                    -0.933960023283898,
+                    0.3572263481727873
+                ],
+                [
+                    -0.9999440222579214,
+                    0.010416265312330761,
+                    -0.0018584314872912944
+                ],
+                [
+                    -0.0019852637039807315,
+                    -0.3572256658255172,
+                    -0.9340159968670463
+                ]
+            ],
+            "translation_vector": [
+                0.5967131287112621,
+                -0.012781639289843402,
+                0.6535498590557488
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039283785476695,
+                    -0.933960023283898,
+                    0.3572263481727873
+                ],
+                [
+                    -0.9999440222579214,
+                    0.010416265312330761,
+                    -0.0018584314872912944
+                ],
+                [
+                    -0.0019852637039807315,
+                    -0.3572256658255172,
+                    -0.9340159968670463
+                ]
+            ],
+            "translation_vector": [
+                0.5967131287112621,
+                -0.012781639289843402,
+                0.6535498590557488
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891223108814,
+                    -0.9339696023765688,
+                    0.357201301297433
+                ],
+                [
+                    -0.9999440222569398,
+                    0.01041626536269568,
+                    -0.001858431733191837
+                ],
+                [
+                    -0.001984984795321197,
+                    -0.3572006204536168,
+                    -0.9340255759790063
+                ]
+            ],
+            "translation_vector": [
+                0.5967123465308862,
+                -0.012781639314427051,
+                0.6535460124883494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928719015733,
+                    -0.9339661362732027,
+                    0.35721036450324783
+                ],
+                [
+                    -0.9999440222573923,
+                    0.010416265337404227,
+                    -0.0018584316315019465
+                ],
+                [
+                    -0.0019850857275349357,
+                    -0.3572096831152909,
+                    -0.9340221098685665
+                ]
+            ],
+            "translation_vector": [
+                0.596713325529134,
+                -0.012781639301181865,
+                0.6535467668517175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928719015733,
+                    -0.9339661362732027,
+                    0.35721036450324783
+                ],
+                [
+                    -0.9999440222573923,
+                    0.010416265337404227,
+                    -0.0018584316315019465
+                ],
+                [
+                    -0.0019850857275349357,
+                    -0.3572096831152909,
+                    -0.9340221098685665
+                ]
+            ],
+            "translation_vector": [
+                0.596713325529134,
+                -0.012781639301181865,
+                0.6535467668517175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392829486495028,
+                    -0.9339585256071794,
+                    0.357230264032779
+                ],
+                [
+                    -0.9999440222582833,
+                    0.010416265289315893,
+                    -0.0018584314216076021
+                ],
+                [
+                    -0.0019853073290711835,
+                    -0.35722958145020267,
+                    -0.9340144991870968
+                ]
+            ],
+            "translation_vector": [
+                0.5967147423329505,
+                -0.012781639276679425,
+                0.6535489308701428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392834788637943,
+                    -0.9339594769636164,
+                    0.3572277766004552
+                ],
+                [
+                    -0.9999440222581717,
+                    0.010416265295326533,
+                    -0.0018584314478445414
+                ],
+                [
+                    -0.0019852796289284444,
+                    -0.35722709416720616,
+                    -0.9340154505454659
+                ]
+            ],
+            "translation_vector": [
+                0.5967145652350837,
+                -0.012781639279742213,
+                0.6535486508294457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392834788637943,
+                    -0.9339594769636164,
+                    0.3572277766004552
+                ],
+                [
+                    -0.9999440222581717,
+                    0.010416265295326533,
+                    -0.0018584314478445414
+                ],
+                [
+                    -0.0019852796289284444,
+                    -0.35722709416720616,
+                    -0.9340154505454659
+                ]
+            ],
+            "translation_vector": [
+                0.5967145652350837,
+                -0.012781639279742213,
+                0.6535486508294457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392864715582074,
+                    -0.9339648458806604,
+                    0.3572137385685465
+                ],
+                [
+                    -0.9999440222574965,
+                    0.010416265332638593,
+                    -0.0018584316020081927
+                ],
+                [
+                    -0.0019851232966444465,
+                    -0.357213056978093,
+                    -0.9340208194734543
+                ]
+            ],
+            "translation_vector": [
+                0.5967132320524515,
+                -0.012781639299112916,
+                0.6535474126714512
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287343449252,
+                    -0.9339664094203031,
+                    0.3572096502844259
+                ],
+                [
+                    -0.9999440222572671,
+                    0.010416265345906577,
+                    -0.0018584316512251387
+                ],
+                [
+                    -0.0019850777650333336,
+                    -0.3572089689394583,
+                    -0.9340223830163152
+                ]
+            ],
+            "translation_vector": [
+                0.5967126072664048,
+                -0.012781639306232455,
+                0.6535472946724856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287343449252,
+                    -0.9339664094203031,
+                    0.3572096502844259
+                ],
+                [
+                    -0.9999440222572671,
+                    0.010416265345906577,
+                    -0.0018584316512251387
+                ],
+                [
+                    -0.0019850777650333336,
+                    -0.3572089689394583,
+                    -0.9340223830163152
+                ]
+            ],
+            "translation_vector": [
+                0.5967126072664048,
+                -0.012781639306232455,
+                0.6535472946724856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392880620319504,
+                    -0.9339676997980775,
+                    0.3572062762134788
+                ],
+                [
+                    -0.9999440222571624,
+                    0.01041626535067273,
+                    -0.0018584316807184094
+                ],
+                [
+                    -0.0019850401958928974,
+                    -0.3572055950710076,
+                    -0.9340236733966588
+                ]
+            ],
+            "translation_vector": [
+                0.5967127007417496,
+                -0.01278163930830139,
+                0.6535465725601751
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393018784834653,
+                    -0.9339924971713328,
+                    0.3571414291120478
+                ],
+                [
+                    -0.9999440222543983,
+                    0.010416265497245135,
+                    -0.0018584323464004928
+                ],
+                [
+                    -0.0019843180776581487,
+                    -0.35714075186227157,
+                    -0.9340484708199132
+                ]
+            ],
+            "translation_vector": [
+                0.596709084607269,
+                -0.01278163938189151,
+                0.6535382455824619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393018784834653,
+                    -0.9339924971713328,
+                    0.3571414291120478
+                ],
+                [
+                    -0.9999440222543983,
+                    0.010416265497245135,
+                    -0.0018584323464004928
+                ],
+                [
+                    -0.0019843180776581487,
+                    -0.35714075186227157,
+                    -0.9340484708199132
+                ]
+            ],
+            "translation_vector": [
+                0.596709084607269,
+                -0.01278163938189151,
+                0.6535382455824619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393082374066684,
+                    -0.934003910172563,
+                    0.35711157867132853
+                ],
+                [
+                    -0.9999440222530613,
+                    0.010416265569408821,
+                    -0.0018584326612349194
+                ],
+                [
+                    -0.001983985668965697,
+                    -0.35711090321348365,
+                    -0.934059883844133
+                ]
+            ],
+            "translation_vector": [
+                0.5967069590640448,
+                -0.012781639418646785,
+                0.6535348853273688
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393216349062293,
+                    -0.934027957218697,
+                    0.3570486748158993
+                ],
+                [
+                    -0.999944022250151,
+                    0.010416265728288064,
+                    -0.001858433336853792
+                ],
+                [
+                    -0.0019832851815669,
+                    -0.35704800313423674,
+                    -0.9340839309386192
+                ]
+            ],
+            "translation_vector": [
+                0.5967018122288087,
+                -0.012781639500272602,
+                0.6535284891388514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393216349062293,
+                    -0.934027957218697,
+                    0.3570486748158993
+                ],
+                [
+                    -0.999944022250151,
+                    0.010416265728288064,
+                    -0.001858433336853792
+                ],
+                [
+                    -0.0019832851815669,
+                    -0.35704800313423674,
+                    -0.9340839309386192
+                ]
+            ],
+            "translation_vector": [
+                0.5967018122288087,
+                -0.012781639500272602,
+                0.6535284891388514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392925743770666,
+                    -0.9339757902823898,
+                    0.3571851204359871
+                ],
+                [
+                    -0.9999440222558889,
+                    0.010416265425520654,
+                    -0.0018584319465234235
+                ],
+                [
+                    -0.0019848045745676176,
+                    -0.3571844405639349,
+                    -0.93403176389769
+                ]
+            ],
+            "translation_vector": [
+                0.5967088585009961,
+                -0.012781639348949832,
+                0.6535465866987975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392828432136398,
+                    -0.9339583277990623,
+                    0.357230781221271
+                ],
+                [
+                    -0.9999440222578865,
+                    0.010416265318558571,
+                    -0.0018584314710077528
+                ],
+                [
+                    -0.0019853130481651948,
+                    -0.3572300986081558,
+                    -0.9340143013790035
+                ]
+            ],
+            "translation_vector": [
+                0.596711775794507,
+                -0.012781639294812908,
+                0.6535520694328226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392828432136398,
+                    -0.9339583277990623,
+                    0.357230781221271
+                ],
+                [
+                    -0.9999440222578865,
+                    0.010416265318558571,
+                    -0.0018584314710077528
+                ],
+                [
+                    -0.0019853130481651948,
+                    -0.3572300986081558,
+                    -0.9340143013790035
+                ]
+            ],
+            "translation_vector": [
+                0.596711775794507,
+                -0.012781639294812908,
+                0.6535520694328226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392897705827154,
+                    -0.9339707608640752,
+                    0.35719827201185705
+                ],
+                [
+                    -0.9999440222565708,
+                    0.010416265386958026,
+                    -0.0018584317956178713
+                ],
+                [
+                    -0.0019849510388711385,
+                    -0.35719759135017803,
+                    -0.9340267344690967
+                ]
+            ],
+            "translation_vector": [
+                0.5967104623144864,
+                -0.01278163932858498,
+                0.6535473827549878
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903007021288,
+                    -0.9339717121353178,
+                    0.35719578454694884
+                ],
+                [
+                    -0.9999440222564596,
+                    0.010416265392969654,
+                    -0.0018584318218545744
+                ],
+                [
+                    -0.0019849233385467796,
+                    -0.35719510403459737,
+                    -0.9340276857422662
+                ]
+            ],
+            "translation_vector": [
+                0.5967102852070278,
+                -0.012781639331647823,
+                0.6535471027203568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903007021288,
+                    -0.9339717121353178,
+                    0.35719578454694884
+                ],
+                [
+                    -0.9999440222564596,
+                    0.010416265392969654,
+                    -0.0018584318218545744
+                ],
+                [
+                    -0.0019849233385467796,
+                    -0.35719510403459737,
+                    -0.9340276857422662
+                ]
+            ],
+            "translation_vector": [
+                0.5967102852070278,
+                -0.012781639331647823,
+                0.6535471027203568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039292267834385,
+                    -0.9339752440251553,
+                    0.35718654888776763
+                ],
+                [
+                    -0.9999440222561393,
+                    0.010416265408514577,
+                    -0.0018584319070776374
+                ],
+                [
+                    -0.001984820499649319,
+                    -0.3571858689297368,
+                    -0.9340312176391609
+                ]
+            ],
+            "translation_vector": [
+                0.596710295037114,
+                -0.012781639338848582,
+                0.6535453784730735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392904539816297,
+                    -0.9339719852712697,
+                    0.3571950703238635
+                ],
+                [
+                    -0.9999440222563343,
+                    0.010416265401472483,
+                    -0.0018584318415774544
+                ],
+                [
+                    -0.0019849153760216147,
+                    -0.3571943898545014,
+                    -0.9340279588788661
+                ]
+            ],
+            "translation_vector": [
+                0.5967095669391448,
+                -0.01278163933669843,
+                0.653547706832063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392904539816297,
+                    -0.9339719852712697,
+                    0.3571950703238635
+                ],
+                [
+                    -0.9999440222563343,
+                    0.010416265401472483,
+                    -0.0018584318415774544
+                ],
+                [
+                    -0.0019849153760216147,
+                    -0.3571943898545014,
+                    -0.9340279588788661
+                ]
+            ],
+            "translation_vector": [
+                0.5967095669391448,
+                -0.01278163933669843,
+                0.653547706832063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039291019229032,
+                    -0.9339730024630067,
+                    0.357192410456846
+                ],
+                [
+                    -0.9999440222563551,
+                    0.010416265397736189,
+                    -0.001858431851347707
+                ],
+                [
+                    -0.0019848857692996184,
+                    -0.357191730146991,
+                    -0.9340289760725214
+                ]
+            ],
+            "translation_vector": [
+                0.5967103786780332,
+                -0.012781639333716767,
+                0.6535463806128794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392920794257307,
+                    -0.9339749049676485,
+                    0.35718743551255666
+                ],
+                [
+                    -0.9999440222561325,
+                    0.010416265409760152,
+                    -0.0018584319038208955
+                ],
+                [
+                    -0.001984830368570442,
+                    -0.3571867555013567,
+                    -0.934030878581015
+                ]
+            ],
+            "translation_vector": [
+                0.5967100244588555,
+                -0.01278163933984248,
+                0.653545820546312
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392920794257307,
+                    -0.9339749049676485,
+                    0.35718743551255666
+                ],
+                [
+                    -0.9999440222561325,
+                    0.010416265409760152,
+                    -0.0018584319038208955
+                ],
+                [
+                    -0.001984830368570442,
+                    -0.3571867555013567,
+                    -0.934030878581015
+                ]
+            ],
+            "translation_vector": [
+                0.5967100244588555,
+                -0.01278163933984248,
+                0.653545820546312
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896173004828,
+                    -0.9339704877256753,
+                    0.3571989862340059
+                ],
+                [
+                    -0.9999440222566961,
+                    0.010416265378455218,
+                    -0.0018584317758948787
+                ],
+                [
+                    -0.001984959001391057,
+                    -0.3571983055293377,
+                    -0.9340264613300487
+                ]
+            ],
+            "translation_vector": [
+                0.5967111805807942,
+                -0.012781639323534367,
+                0.6535468549361342
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392890871715637,
+                    -0.9339695364459071,
+                    0.35720147369565347
+                ],
+                [
+                    -0.9999440222568077,
+                    0.01041626537244365,
+                    -0.0018584317496581724
+                ],
+                [
+                    -0.0019849867016973285,
+                    -0.35720079284165773,
+                    -0.934025510048353
+                ]
+            ],
+            "translation_vector": [
+                0.596711357687293,
+                -0.012781639320471534,
+                0.6535471349713722
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392890871715637,
+                    -0.9339695364459071,
+                    0.35720147369565347
+                ],
+                [
+                    -0.9999440222568077,
+                    0.01041626537244365,
+                    -0.0018584317496581724
+                ],
+                [
+                    -0.0019849867016973285,
+                    -0.35720079284165773,
+                    -0.934025510048353
+                ]
+            ],
+            "translation_vector": [
+                0.596711357687293,
+                -0.012781639320471534,
+                0.6535471349713722
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392885570352728,
+                    -0.9339685851595144,
+                    0.35720396115476777
+                ],
+                [
+                    -0.999944022256919,
+                    0.010416265366431959,
+                    -0.0018584317234217524
+                ],
+                [
+                    -0.0019850144019889836,
+                    -0.3572032801514444,
+                    -0.9340245587600323
+                ]
+            ],
+            "translation_vector": [
+                0.596711534793046,
+                -0.012781639317408717,
+                0.6535472624191914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882153203635,
+                    -0.9339679729420521,
+                    0.35720556199346154
+                ],
+                [
+                    -0.9999440222570375,
+                    0.010416265359174908,
+                    -0.0018584317004415034
+                ],
+                [
+                    -0.001985032233384498,
+                    -0.3572048808939799,
+                    -0.9340239465412816
+                ]
+            ],
+            "translation_vector": [
+                0.5967119824780187,
+                -0.012781639313351963,
+                0.653547252968423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882153203635,
+                    -0.9339679729420521,
+                    0.35720556199346154
+                ],
+                [
+                    -0.9999440222570375,
+                    0.010416265359174908,
+                    -0.0018584317004415034
+                ],
+                [
+                    -0.001985032233384498,
+                    -0.3572048808939799,
+                    -0.9340239465412816
+                ]
+            ],
+            "translation_vector": [
+                0.5967119824780187,
+                -0.012781639313351963,
+                0.653547252968423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882153203635,
+                    -0.9339679729420521,
+                    0.35720556199346154
+                ],
+                [
+                    -0.9999440222570375,
+                    0.010416265359174908,
+                    -0.0018584317004415034
+                ],
+                [
+                    -0.001985032233384498,
+                    -0.3572048808939799,
+                    -0.9340239465412816
+                ]
+            ],
+            "translation_vector": [
+                0.5967119824780187,
+                -0.012781639313351963,
+                0.6535471766744778
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882153203635,
+                    -0.9339679729420521,
+                    0.35720556199346154
+                ],
+                [
+                    -0.9999440222570375,
+                    0.010416265359174908,
+                    -0.0018584317004415034
+                ],
+                [
+                    -0.001985032233384498,
+                    -0.3572048808939799,
+                    -0.9340239465412816
+                ]
+            ],
+            "translation_vector": [
+                0.5967119824780187,
+                -0.012781639313351963,
+                0.6535471766744778
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882153203635,
+                    -0.9339679729420521,
+                    0.35720556199346154
+                ],
+                [
+                    -0.9999440222570375,
+                    0.010416265359174908,
+                    -0.0018584317004415034
+                ],
+                [
+                    -0.001985032233384498,
+                    -0.3572048808939799,
+                    -0.9340239465412816
+                ]
+            ],
+            "translation_vector": [
+                0.5967119824780187,
+                -0.012781639313351963,
+                0.6535471766744778
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288403748201,
+                    -0.9339683120167642,
+                    0.3572046753752528
+                ],
+                [
+                    -0.9999440222570443,
+                    0.010416265357929494,
+                    -0.0018584317036985125
+                ],
+                [
+                    -0.001985022364500044,
+                    -0.3572039943289402,
+                    -0.9340242856166341
+                ]
+            ],
+            "translation_vector": [
+                0.5967122530575646,
+                -0.012781639312358107,
+                0.6535468108933258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392748890909591,
+                    -0.9339440566369667,
+                    0.3572680923941819
+                ],
+                [
+                    -0.9999440222595577,
+                    0.010416265228403164,
+                    -0.001858431077454582
+                ],
+                [
+                    -0.00198572854856537,
+                    -0.3572674075411565,
+                    -0.9340000301878761
+                ]
+            ],
+            "translation_vector": [
+                0.596714432170687,
+                -0.012781639248871475,
+                0.6535562701013454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392748890909591,
+                    -0.9339440566369667,
+                    0.3572680923941819
+                ],
+                [
+                    -0.9999440222595577,
+                    0.010416265228403164,
+                    -0.001858431077454582
+                ],
+                [
+                    -0.00198572854856537,
+                    -0.3572674075411565,
+                    -0.9340000301878761
+                ]
+            ],
+            "translation_vector": [
+                0.596714432170687,
+                -0.012781639248871475,
+                0.6535562701013454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392542709498529,
+                    -0.9339070765622663,
+                    0.35736475400206014
+                ],
+                [
+                    -0.9999440222641645,
+                    0.010416264974581264,
+                    -0.0018584300212636773
+                ],
+                [
+                    -0.001986805022107699,
+                    -0.3573640633456321,
+                    -0.9339630500372612
+                ]
+            ],
+            "translation_vector": [
+                0.596723315664209,
+                -0.01278163911733856,
+                0.6535650999602916
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393038098921035,
+                    -0.9339959626058301,
+                    0.3571323656504455
+                ],
+                [
+                    -0.999944022253946,
+                    0.010416265522543704,
+                    -0.0018584324480887086
+                ],
+                [
+                    -0.001984217144018772,
+                    -0.3571316889448106,
+                    -0.9340519362614442
+                ]
+            ],
+            "translation_vector": [
+                0.5967081055343685,
+                -0.01278163939513706,
+                0.6535375675613001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393038098921035,
+                    -0.9339959626058301,
+                    0.3571323656504455
+                ],
+                [
+                    -0.999944022253946,
+                    0.010416265522543704,
+                    -0.0018584324480887086
+                ],
+                [
+                    -0.001984217144018772,
+                    -0.3571316889448106,
+                    -0.9340519362614442
+                ]
+            ],
+            "translation_vector": [
+                0.5967081055343685,
+                -0.01278163939513706,
+                0.6535375675613001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392836321705375,
+                    -0.9339597501240302,
+                    0.35722706238672564
+                ],
+                [
+                    -0.9999440222580466,
+                    0.010416265303828484,
+                    -0.001858431467567985
+                ],
+                [
+                    -0.0019852716664550294,
+                    -0.35722637999646595,
+                    -0.9340157237065291
+                ]
+            ],
+            "translation_vector": [
+                0.5967138469738535,
+                -0.0127816392847928,
+                0.6535493312371566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905593954832,
+                    -0.9339721830596138,
+                    0.3571945531278086
+                ],
+                [
+                    -0.999944022256731,
+                    0.010416265372227916,
+                    -0.0018584317921785506
+                ],
+                [
+                    -0.0019849096568852302,
+                    -0.3571938726889853,
+                    -0.9340281566671852
+                ]
+            ],
+            "translation_vector": [
+                0.5967125334724381,
+                -0.01278163931856494,
+                0.6535446445618854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905593954832,
+                    -0.9339721830596138,
+                    0.3571945531278086
+                ],
+                [
+                    -0.999944022256731,
+                    0.010416265372227916,
+                    -0.0018584317921785506
+                ],
+                [
+                    -0.0019849096568852302,
+                    -0.3571938726889853,
+                    -0.9340281566671852
+                ]
+            ],
+            "translation_vector": [
+                0.5967125334724381,
+                -0.01278163931856494,
+                0.6535446445618854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928612982462,
+                    -0.9339642336464412,
+                    0.3572153394008318
+                ],
+                [
+                    -0.9999440222576149,
+                    0.010416265325381464,
+                    -0.0018584315790283945
+                ],
+                [
+                    -0.001985141128003749,
+                    -0.35721465771421995,
+                    -0.9340202072379458
+                ]
+            ],
+            "translation_vector": [
+                0.5967136797345629,
+                -0.012781639295056206,
+                0.6535471743390896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928612982462,
+                    -0.9339642336464412,
+                    0.3572153394008318
+                ],
+                [
+                    -0.9999440222576149,
+                    0.010416265325381464,
+                    -0.0018584315790283945
+                ],
+                [
+                    -0.001985141128003749,
+                    -0.35721465771421995,
+                    -0.9340202072379458
+                ]
+            ],
+            "translation_vector": [
+                0.5967136797345629,
+                -0.012781639295056206,
+                0.6535471743390896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392855996472355,
+                    -0.9339632823231245,
+                    0.3572178268458237
+                ],
+                [
+                    -0.9999440222577264,
+                    0.01041626531937072,
+                    -0.0018584315527915736
+                ],
+                [
+                    -0.0019851688282170885,
+                    -0.35721714500988433,
+                    -0.9340192559126987
+                ]
+            ],
+            "translation_vector": [
+                0.5967138568361586,
+                -0.012781639291993423,
+                0.6535475306713737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039293739935181,
+                    -0.9339778905282847,
+                    0.3571796282776335
+                ],
+                [
+                    -0.9999440222560624,
+                    0.010416265408299943,
+                    -0.0018584319495978257
+                ],
+                [
+                    -0.001984743454602059,
+                    -0.3571789487347751,
+                    -0.934033864147409
+                ]
+            ],
+            "translation_vector": [
+                0.5967114708098099,
+                -0.01278163933694205,
+                0.6535428880714602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039293739935181,
+                    -0.9339778905282847,
+                    0.3571796282776335
+                ],
+                [
+                    -0.9999440222560624,
+                    0.010416265408299943,
+                    -0.0018584319495978257
+                ],
+                [
+                    -0.001984743454602059,
+                    -0.3571789487347751,
+                    -0.934033864147409
+                ]
+            ],
+            "translation_vector": [
+                0.5967114708098099,
+                -0.01278163933694205,
+                0.6535428880714602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392956717565674,
+                    -0.9339813563334222,
+                    0.3571705649577642
+                ],
+                [
+                    -0.9999440222556099,
+                    0.010416265433594196,
+                    -0.001858432051287183
+                ],
+                [
+                    -0.00198464252175224,
+                    -0.35716988595904675,
+                    -0.9340373299596022
+                ]
+            ],
+            "translation_vector": [
+                0.596710491778311,
+                -0.012781639350187389,
+                0.6535422863175349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393009717970813,
+                    -0.9339908680099158,
+                    0.35714568991251566
+                ],
+                [
+                    -0.9999440222544961,
+                    0.010416265493722257,
+                    -0.0018584323136506438
+                ],
+                [
+                    -0.001984365516303202,
+                    -0.3571450124070737,
+                    -0.9340468416553044
+                ]
+            ],
+            "translation_vector": [
+                0.5967087205870971,
+                -0.012781639380816308,
+                0.6535394097510442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393009717970813,
+                    -0.9339908680099158,
+                    0.35714568991251566
+                ],
+                [
+                    -0.9999440222544961,
+                    0.010416265493722257,
+                    -0.0018584323136506438
+                ],
+                [
+                    -0.001984365516303202,
+                    -0.3571450124070737,
+                    -0.9340468416553044
+                ]
+            ],
+            "translation_vector": [
+                0.5967087205870971,
+                -0.012781639380816308,
+                0.6535394097510442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392993818624253,
+                    -0.933988014576522,
+                    0.35715315245268764
+                ],
+                [
+                    -0.9999440222548301,
+                    0.010416265475683532,
+                    -0.0018584322349416438
+                ],
+                [
+                    -0.0019844486180862946,
+                    -0.357152474499263,
+                    -0.9340439882161521
+                ]
+            ],
+            "translation_vector": [
+                0.5967092519522917,
+                -0.012781639371627613,
+                0.653540249827855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010393020668435045,
+                    -0.9339928361851713,
+                    0.3571405424705596
+                ],
+                [
+                    -0.9999440222544054,
+                    0.010416265495999878,
+                    -0.0018584323496573245
+                ],
+                [
+                    -0.001984308208644058,
+                    -0.35713986527395253,
+                    -0.9340488098343878
+                ]
+            ],
+            "translation_vector": [
+                0.5967093551783372,
+                -0.012781639380897658,
+                0.65353772721617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392976386111481,
+                    -0.9339848879739036,
+                    0.3571613292032227
+                ],
+                [
+                    -0.9999440222552898,
+                    0.010416265449141298,
+                    -0.0018584321365099246
+                ],
+                [
+                    -0.001984539682323667,
+                    -0.3571606507588261,
+                    -0.9340408616071258
+                ]
+            ],
+            "translation_vector": [
+                0.5967105015764254,
+                -0.012781639357388297,
+                0.653540562084206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392976386111481,
+                    -0.9339848879739036,
+                    0.3571613292032227
+                ],
+                [
+                    -0.9999440222552898,
+                    0.010416265449141298,
+                    -0.0018584321365099246
+                ],
+                [
+                    -0.001984539682323667,
+                    -0.3571606507588261,
+                    -0.9340408616071258
+                ]
+            ],
+            "translation_vector": [
+                0.5967105015764254,
+                -0.012781639357388297,
+                0.653540562084206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392944583970914,
+                    -0.9339791807976141,
+                    0.3571762541652123
+                ],
+                [
+                    -0.9999440222559579,
+                    0.010416265413066679,
+                    -0.0018584319790910554
+                ],
+                [
+                    -0.0019847058852302518,
+                    -0.3571755748248504,
+                    -0.9340351544193009
+                ]
+            ],
+            "translation_vector": [
+                0.5967115642719708,
+                -0.012781639339011028,
+                0.6535421659659213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392870368648112,
+                    -0.9339658631255564,
+                    0.35721107872186036
+                ],
+                [
+                    -0.9999440222575172,
+                    0.010416265328901973,
+                    -0.0018584316117785794
+                ],
+                [
+                    -0.0019850936900356443,
+                    -0.3572103972909139,
+                    -0.9340218367202714
+                ]
+            ],
+            "translation_vector": [
+                0.5967140437905022,
+                -0.012781639296131266,
+                0.6535460864418305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392806744006128,
+                    -0.9339544469447207,
+                    0.35724092794662166
+                ],
+                [
+                    -0.999944022258854,
+                    0.010416265256771631,
+                    -0.0018584312969368267
+                ],
+                [
+                    -0.001985426091951889,
+                    -0.3572402447237463,
+                    -0.9340104205162553
+                ]
+            ],
+            "translation_vector": [
+                0.5967161689757583,
+                -0.012781639259377748,
+                0.6535494469233311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392806744006128,
+                    -0.9339544469447207,
+                    0.35724092794662166
+                ],
+                [
+                    -0.999944022258854,
+                    0.010416265256771631,
+                    -0.0018584312969368267
+                ],
+                [
+                    -0.001985426091951889,
+                    -0.3572402447237463,
+                    -0.9340104205162553
+                ]
+            ],
+            "translation_vector": [
+                0.5967161689757583,
+                -0.012781639259377748,
+                0.6535494469233311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392854463483401,
+                    -0.9339630091697722,
+                    0.3572185410622541
+                ],
+                [
+                    -0.9999440222578515,
+                    0.010416265310868344,
+                    -0.0018584315330684381
+                ],
+                [
+                    -0.0019851767907052764,
+                    -0.35721785918332527,
+                    -0.9340189827586975
+                ]
+            ],
+            "translation_vector": [
+                0.5967145750968844,
+                -0.012781639286942838,
+                0.6535469265558385
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039286506700035,
+                    -0.933964911813586,
+                    0.35721356617119177
+                ],
+                [
+                    -0.9999440222576289,
+                    0.010416265322890738,
+                    -0.0018584315855418496
+                ],
+                [
+                    -0.001985121390273002,
+                    -0.3572128845909179,
+                    -0.9340208854063715
+                ]
+            ],
+            "translation_vector": [
+                0.5967142208933753,
+                -0.012781639293068458,
+                0.6535463664793615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535454500742381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535446862612504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535456026621287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535444479260962
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893458732818,
+                    -0.9339700073777031,
+                    0.3572002422793821
+                ],
+                [
+                    -0.999944022257079,
+                    0.0104162653517021,
+                    -0.0018584317199820794
+                ],
+                [
+                    -0.0019849730200518527,
+                    -0.35719956149891446,
+                    -0.9340259809807719
+                ]
+            ],
+            "translation_vector": [
+                0.5967136059489994,
+                -0.012781639307388676,
+                0.6535444479260962
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392854463483401,
+                    -0.9339630091697722,
+                    0.3572185410622541
+                ],
+                [
+                    -0.9999440222578515,
+                    0.010416265310868344,
+                    -0.0018584315330684381
+                ],
+                [
+                    -0.0019851767907052764,
+                    -0.35721785918332527,
+                    -0.9340189827586975
+                ]
+            ],
+            "translation_vector": [
+                0.5967145750968844,
+                -0.012781639286942838,
+                0.6535468502618931
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288285600649,
+                    -0.9339681048048524,
+                    0.3572052171975852
+                ],
+                [
+                    -0.9999440222573015,
+                    0.010416265339679296,
+                    -0.001858431667508753
+                ],
+                [
+                    -0.0019850284206354373,
+                    -0.3572045361184627,
+                    -0.9340240784040653
+                ]
+            ],
+            "translation_vector": [
+                0.5967139601604978,
+                -0.012781639301263035,
+                0.6535450842914657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288285600649,
+                    -0.9339681048048524,
+                    0.3572052171975852
+                ],
+                [
+                    -0.9999440222573015,
+                    0.010416265339679296,
+                    -0.001858431667508753
+                ],
+                [
+                    -0.0019850284206354373,
+                    -0.3572045361184627,
+                    -0.9340240784040653
+                ]
+            ],
+            "translation_vector": [
+                0.5967139601604978,
+                -0.012781639301263035,
+                0.6535450842914657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535448900024777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898759985602,
+                    -0.9339709586541921,
+                    0.35719775481648053
+                ],
+                [
+                    -0.9999440222569675,
+                    0.010416265357713842,
+                    -0.0018584317462188296
+                ],
+                [
+                    -0.0019849453197387317,
+                    -0.35719707418534036,
+                    -0.9340269322591884
+                ]
+            ],
+            "translation_vector": [
+                0.5967134288421314,
+                -0.012781639310451528,
+                0.653544244185037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535452046311521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535452046311521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392918080158376,
+                    -0.9339744246352079,
+                    0.35718869156387284
+                ],
+                [
+                    -0.9999440222565149,
+                    0.010416265383006431,
+                    -0.0018584318479083046
+                ],
+                [
+                    -0.001984844387264285,
+                    -0.35718801147687357,
+                    -0.9340303982472709
+                ]
+            ],
+            "translation_vector": [
+                0.5967124498310834,
+                -0.01278163932369675,
+                0.6535435661252763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.653544924596283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.653544924596283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392893107341985,
+                    -0.9339699414472369,
+                    0.35720041467767777
+                ],
+                [
+                    -0.9999440222569469,
+                    0.010416265361450188,
+                    -0.001858431736448518
+                ],
+                [
+                    -0.001984974926428348,
+                    -0.3571997338870305,
+                    -0.9340259150503143
+                ]
+            ],
+            "translation_vector": [
+                0.5967126171093269,
+                -0.01278163931343316,
+                0.6535455704129064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535457741544701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535457741544701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535460541904506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535460541904506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392887806010482,
+                    -0.9339689901636645,
+                    0.3572029021378705
+                ],
+                [
+                    -0.9999440222570581,
+                    0.010416265355438525,
+                    -0.001858431710212096
+                ],
+                [
+                    -0.001985002626725902,
+                    -0.35720222119789574,
+                    -0.934024963764814
+                ]
+            ],
+            "translation_vector": [
+                0.5967127942153974,
+                -0.012781639310370345,
+                0.6535458504484153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392882504605098,
+                    -0.9339680388734678,
+                    0.3572053895955297
+                ],
+                [
+                    -0.9999440222571693,
+                    0.010416265349426865,
+                    -0.0018584316839753393
+                ],
+                [
+                    -0.0019850303270096984,
+                    -0.35720470850622754,
+                    -0.9340240124726892
+                ]
+            ],
+            "translation_vector": [
+                0.596712971320722,
+                -0.012781639307307495,
+                0.6535461304843959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.653544329932604
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535451700381221
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392859765278595,
+                    -0.9339639604949911,
+                    0.35721605361798964
+                ],
+                [
+                    -0.9999440222577403,
+                    0.010416265316879284,
+                    -0.0018584315593052456
+                ],
+                [
+                    -0.0019851490904959908,
+                    -0.3572153718883883,
+                    -0.9340199340858467
+                ]
+            ],
+            "translation_vector": [
+                0.5967143979955027,
+                -0.012781639290005638,
+                0.6535466465173642
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288285600649,
+                    -0.9339681048048524,
+                    0.3572052171975852
+                ],
+                [
+                    -0.9999440222573015,
+                    0.010416265339679296,
+                    -0.001858431667508753
+                ],
+                [
+                    -0.0019850284206354373,
+                    -0.3572045361184627,
+                    -0.9340240784040653
+                ]
+            ],
+            "translation_vector": [
+                0.5967139601604978,
+                -0.012781639301263035,
+                0.6535450842914657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288285600649,
+                    -0.9339681048048524,
+                    0.3572052171975852
+                ],
+                [
+                    -0.9999440222573015,
+                    0.010416265339679296,
+                    -0.001858431667508753
+                ],
+                [
+                    -0.0019850284206354373,
+                    -0.3572045361184627,
+                    -0.9340240784040653
+                ]
+            ],
+            "translation_vector": [
+                0.5967139601604978,
+                -0.012781639301263035,
+                0.6535450842914657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392904061164393,
+                    -0.9339719099240572,
+                    0.35719526735104523
+                ],
+                [
+                    -0.999944022256856,
+                    0.010416265363725453,
+                    -0.0018584317724553657
+                ],
+                [
+                    -0.001984917619411711,
+                    -0.35719458686923256,
+                    -0.9340278835309804
+                ]
+            ],
+            "translation_vector": [
+                0.5967132517345177,
+                -0.012781639313514347,
+                0.6535439641505041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.653544880549463
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.653544880549463
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392888157406651,
+                    -0.9339690560945898,
+                    0.3572027297397504
+                ],
+                [
+                    -0.9999440222571904,
+                    0.010416265345690807,
+                    -0.001858431693745353
+                ],
+                [
+                    -0.0019850007203506903,
+                    -0.3572020488099553,
+                    -0.934025029695731
+                ]
+            ],
+            "translation_vector": [
+                0.5967137830551215,
+                -0.012781639304325859,
+                0.6535448042555178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287755453234,
+                    -0.9339671535084909,
+                    0.3572077046528866
+                ],
+                [
+                    -0.9999440222574129,
+                    0.010416265333667678,
+                    -0.0018584316412721608
+                ],
+                [
+                    -0.001985056120905843,
+                    -0.35720702342443655,
+                    -0.9340231271057752
+                ]
+            ],
+            "translation_vector": [
+                0.5967141372651285,
+                -0.012781639298200207,
+                0.6535453643278852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039287755453234,
+                    -0.9339671535084909,
+                    0.3572077046528866
+                ],
+                [
+                    -0.9999440222574129,
+                    0.010416265333667678,
+                    -0.0018584316412721608
+                ],
+                [
+                    -0.001985056120905843,
+                    -0.35720702342443655,
+                    -0.9340231271057752
+                ]
+            ],
+            "translation_vector": [
+                0.5967141372651285,
+                -0.012781639298200207,
+                0.6535453643278852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928688357169,
+                    -0.9339655899773641,
+                    0.35721179294026445
+                ],
+                [
+                    -0.9999440222576428,
+                    0.010416265320399833,
+                    -0.0018584315920551504
+                ],
+                [
+                    -0.0019851016525351656,
+                    -0.35721111146632856,
+                    -0.9340215635714305
+                ]
+            ],
+            "translation_vector": [
+                0.5967147620505093,
+                -0.012781639291080681,
+                0.6535454823246605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0103928688357169,
+                    -0.9339655899773641,
+                    0.35721179294026445
+                ],
+                [
+                    -0.9999440222576428,
+                    0.010416265320399833,
+                    -0.0018584315920551504
+                ],
+                [
+                    -0.0019851016525351656,
+                    -0.35721111146632856,
+                    -0.9340215635714305
+                ]
+            ],
+            "translation_vector": [
+                0.5967147620505093,
+                -0.012781639291080681,
+                0.6535454823246605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.6535447625551956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392918080158376,
+                    -0.9339744246352079,
+                    0.35718869156387284
+                ],
+                [
+                    -0.9999440222565149,
+                    0.010416265383006431,
+                    -0.0018584318479083046
+                ],
+                [
+                    -0.001984844387264285,
+                    -0.35718801147687357,
+                    -0.9340303982472709
+                ]
+            ],
+            "translation_vector": [
+                0.5967124498310834,
+                -0.01278163932369675,
+                0.6535434898313309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392918080158376,
+                    -0.9339744246352079,
+                    0.35718869156387284
+                ],
+                [
+                    -0.9999440222565149,
+                    0.010416265383006431,
+                    -0.0018584318479083046
+                ],
+                [
+                    -0.001984844387264285,
+                    -0.35718801147687357,
+                    -0.9340303982472709
+                ]
+            ],
+            "translation_vector": [
+                0.5967124498310834,
+                -0.01278163932369675,
+                0.6535434898313309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909362269635,
+                    -0.9339728611872978,
+                    0.35719277988307674
+                ],
+                [
+                    -0.9999440222567444,
+                    0.010416265369737375,
+                    -0.0018584317986919357
+                ],
+                [
+                    -0.0019848899190705476,
+                    -0.3571920995505915,
+                    -0.9340288347961476
+                ]
+            ],
+            "translation_vector": [
+                0.5967130746261582,
+                -0.012781639316577192,
+                0.6535436841164428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392918080158376,
+                    -0.9339744246352079,
+                    0.35718869156387284
+                ],
+                [
+                    -0.9999440222565149,
+                    0.010416265383006431,
+                    -0.0018584318479083046
+                ],
+                [
+                    -0.001984844387264285,
+                    -0.35718801147687357,
+                    -0.9340303982472709
+                ]
+            ],
+            "translation_vector": [
+                0.5967124498310834,
+                -0.01278163932369675,
+                0.6535435661252763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392898408599657,
+                    -0.933970892724185,
+                    0.3571979272149514
+                ],
+                [
+                    -0.9999440222568354,
+                    0.010416265367461727,
+                    -0.0018584317626851711
+                ],
+                [
+                    -0.0019849472261162585,
+                    -0.3571972465736318,
+                    -0.9340268663291899
+                ]
+            ],
+            "translation_vector": [
+                0.5967124400025107,
+                -0.012781639316495987,
+                0.6535452903778691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392902176985465,
+                    -0.9339715708582746,
+                    0.35719615397266946
+                ],
+                [
+                    -0.9999440222568493,
+                    0.01041626536497081,
+                    -0.0018584317691986952
+                ],
+                [
+                    -0.0019849274883149493,
+                    -0.3571954734376877,
+                    -0.9340275444645586
+                ]
+            ],
+            "translation_vector": [
+                0.5967129811576016,
+                -0.01278163931450823,
+                0.6535444062265494
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392912779174493,
+                    -0.9339734733828544,
+                    0.3571911790360051
+                ],
+                [
+                    -0.9999440222566264,
+                    0.01041626537699443,
+                    -0.001858431821671796
+                ],
+                [
+                    -0.0019848720876285133,
+                    -0.3571904987996784,
+                    -0.9340294469929914
+                ]
+            ],
+            "translation_vector": [
+                0.5967126269406686,
+                -0.012781639320633904,
+                0.6535438461585623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454846664929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535452046311521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535452046311521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535451283372067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392891574501632,
+                    -0.9339696683071983,
+                    0.35720112889920014
+                ],
+                [
+                    -0.9999440222570718,
+                    0.010416265352947832,
+                    -0.0018584317167252696
+                ],
+                [
+                    -0.0019849828889451893,
+                    -0.3572004480655633,
+                    -0.9340256419096276
+                ]
+            ],
+            "translation_vector": [
+                0.5967133353715516,
+                -0.012781639308382565,
+                0.6535449662964231
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535456121144148
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392886273148617,
+                    -0.9339687170217239,
+                    0.35720361635866554
+                ],
+                [
+                    -0.9999440222571834,
+                    0.01041626534693601,
+                    -0.0018584316904885257
+                ],
+                [
+                    -0.0019850105892388874,
+                    -0.35720293537570147,
+                    -0.9340246906222253
+                ]
+            ],
+            "translation_vector": [
+                0.5967135124774079,
+                -0.01278163930531971,
+                0.6535452463320675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.6535456121144148
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392877203126113,
+                    -0.9339670875766474,
+                    0.35720787705065565
+                ],
+                [
+                    -0.9999440222572809,
+                    0.01041626534341562,
+                    -0.0018584316577384984
+                ],
+                [
+                    -0.001985058027279599,
+                    -0.357207195812026,
+                    -0.9340230611739402
+                ]
+            ],
+            "translation_vector": [
+                0.5967131484253009,
+                -0.012781639304244672,
+                0.6535464105208482
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288285600649,
+                    -0.9339681048048524,
+                    0.3572052171975852
+                ],
+                [
+                    -0.9999440222573015,
+                    0.010416265339679296,
+                    -0.001858431667508753
+                ],
+                [
+                    -0.0019850284206354373,
+                    -0.3572045361184627,
+                    -0.9340240784040653
+                ]
+            ],
+            "translation_vector": [
+                0.5967139601604978,
+                -0.012781639301263035,
+                0.6535450079975205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288285600649,
+                    -0.9339681048048524,
+                    0.3572052171975852
+                ],
+                [
+                    -0.9999440222573015,
+                    0.010416265339679296,
+                    -0.001858431667508753
+                ],
+                [
+                    -0.0019850284206354373,
+                    -0.3572045361184627,
+                    -0.9340240784040653
+                ]
+            ],
+            "translation_vector": [
+                0.5967139601604978,
+                -0.012781639301263035,
+                0.6535450079975205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392894991565618,
+                    -0.9339702805170634,
+                    0.3571995280576002
+                ],
+                [
+                    -0.9999440222569534,
+                    0.01041626536020448,
+                    -0.0018584317397053248
+                ],
+                [
+                    -0.001984965057533367,
+                    -0.35719884732012186,
+                    -0.9340262541207807
+                ]
+            ],
+            "translation_vector": [
+                0.596712887687348,
+                -0.012781639312439263,
+                0.6535452046311521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392843859671538,
+                    -0.9339611064994623,
+                    0.3572235159431821
+                ],
+                [
+                    -0.9999440222580742,
+                    0.010416265298846381,
+                    -0.001858431480594774
+                ],
+                [
+                    -0.001985232191081128,
+                    -0.35722283376559844,
+                    -0.9340170800845259
+                ]
+            ],
+            "translation_vector": [
+                0.5967149292974102,
+                -0.01278163928081723,
+                0.6535475629281471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392836321705375,
+                    -0.9339597501240302,
+                    0.35722706238672564
+                ],
+                [
+                    -0.9999440222580466,
+                    0.010416265303828484,
+                    -0.001858431467567985
+                ],
+                [
+                    -0.0019852716664550294,
+                    -0.35722637999646595,
+                    -0.9340157237065291
+                ]
+            ],
+            "translation_vector": [
+                0.5967138469738535,
+                -0.0127816392847928,
+                0.6535492549432113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392836321705375,
+                    -0.9339597501240302,
+                    0.35722706238672564
+                ],
+                [
+                    -0.9999440222580466,
+                    0.010416265303828484,
+                    -0.001858431467567985
+                ],
+                [
+                    -0.0019852716664550294,
+                    -0.35722637999646595,
+                    -0.9340157237065291
+                ]
+            ],
+            "translation_vector": [
+                0.5967138469738535,
+                -0.0127816392847928,
+                0.6535492549432113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392852930488475,
+                    -0.933962736015874,
+                    0.35721925527847564
+                ],
+                [
+                    -0.999944022257977,
+                    0.010416265302366279,
+                    -0.0018584315133448922
+                ],
+                [
+                    -0.001985184753192579,
+                    -0.35721857335655743,
+                    -0.9340187096041502
+                ]
+            ],
+            "translation_vector": [
+                0.5967152933562492,
+                -0.012781639281892247,
+                0.6535462461451294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039282571738819,
+                    -0.9339578474083358,
+                    0.35723203725029484
+                ],
+                [
+                    -0.9999440222582694,
+                    0.010416265291807045,
+                    -0.0018584314150942283
+                ],
+                [
+                    -0.0019853270667343896,
+                    -0.35723135456138055,
+                    -0.9340138209869702
+                ]
+            ],
+            "translation_vector": [
+                0.5967142011692697,
+                -0.012781639278667222,
+                0.6535498150248062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039282571738819,
+                    -0.9339578474083358,
+                    0.35723203725029484
+                ],
+                [
+                    -0.9999440222582694,
+                    0.010416265291807045,
+                    -0.0018584314150942283
+                ],
+                [
+                    -0.0019853270667343896,
+                    -0.35723135456138055,
+                    -0.9340138209869702
+                ]
+            ],
+            "translation_vector": [
+                0.5967142011692697,
+                -0.012781639278667222,
+                0.6535498150248062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039283137103447,
+                    -0.9339588647053387,
+                    0.3572293774235381
+                ],
+                [
+                    -0.9999440222582903,
+                    0.010416265288070346,
+                    -0.001858431424864287
+                ],
+                [
+                    -0.001985297460236847,
+                    -0.35722869489413067,
+                    -0.9340148382858974
+                ]
+            ],
+            "translation_vector": [
+                0.5967150129141616,
+                -0.01278163927568553,
+                0.6535484887924257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535440082005601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392903709783562,
+                    -0.9339718439945092,
+                    0.357195439749692
+                ],
+                [
+                    -0.9999440222567237,
+                    0.010416265373473324,
+                    -0.0018584317889218753
+                ],
+                [
+                    -0.001984919525789941,
+                    -0.35719475925769967,
+                    -0.9340278176014408
+                ]
+            ],
+            "translation_vector": [
+                0.5967122628949486,
+                -0.012781639319558823,
+                0.6535449340493582
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392983569994796,
+                    -0.9339861781771334,
+                    0.3571579550655235
+                ],
+                [
+                    -0.9999440222551853,
+                    0.010416265453909054,
+                    -0.001858432166003026
+                ],
+                [
+                    -0.0019845021128113076,
+                    -0.3571572768236235,
+                    -0.9340421518129138
+                ]
+            ],
+            "translation_vector": [
+                0.5967105950308198,
+                -0.012781639359457342,
+                0.6535397636891115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392983569994796,
+                    -0.9339861781771334,
+                    0.3571579550655235
+                ],
+                [
+                    -0.9999440222551853,
+                    0.010416265453909054,
+                    -0.001858432166003026
+                ],
+                [
+                    -0.0019845021128113076,
+                    -0.3571572768236235,
+                    -0.9340421518129138
+                ]
+            ],
+            "translation_vector": [
+                0.5967105950308198,
+                -0.012781639359457342,
+                0.6535397636891115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392909010893752,
+                    -0.9339727952582091,
+                    0.357192952281899
+                ],
+                [
+                    -0.9999440222566124,
+                    0.010416265379485081,
+                    -0.0018584318151584575
+                ],
+                [
+                    -0.001984891825449784,
+                    -0.3571922719392343,
+                    -0.9340287688670674
+                ]
+            ],
+            "translation_vector": [
+                0.5967120857866408,
+                -0.01278163932262166,
+                0.6535447303092096
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535439319066149
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392916196048796,
+                    -0.9339740855756674,
+                    0.3571895781878837
+                ],
+                [
+                    -0.9999440222565081,
+                    0.010416265384251557,
+                    -0.001858431844651539
+                ],
+                [
+                    -0.0019848542561807635,
+                    -0.3571888980477153,
+                    -0.9340300591870914
+                ]
+            ],
+            "translation_vector": [
+                0.5967121792545452,
+                -0.012781639324690607,
+                0.6535439319066149
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392921496985315,
+                    -0.9339750368237579,
+                    0.3571870907141213
+                ],
+                [
+                    -0.9999440222563968,
+                    0.010416265390263576,
+                    -0.0018584318708882695
+                ],
+                [
+                    -0.001984826555807092,
+                    -0.3571864107232805,
+                    -0.9340310104371076
+                ]
+            ],
+            "translation_vector": [
+                0.5967120021444801,
+                -0.012781639327753478,
+                0.6535437281675777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392910895038781,
+                    -0.9339731343209525,
+                    0.35719206565911293
+                ],
+                [
+                    -0.9999440222566195,
+                    0.010416265378239776,
+                    -0.001858431818415014
+                ],
+                [
+                    -0.001984881956540127,
+                    -0.3571913853696171,
+                    -0.9340291079304504
+                ]
+            ],
+            "translation_vector": [
+                0.5967123563638645,
+                -0.012781639321627772,
+                0.6535442882340142
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905593954832,
+                    -0.9339721830596138,
+                    0.3571945531278086
+                ],
+                [
+                    -0.999944022256731,
+                    0.010416265372227916,
+                    -0.0018584317921785506
+                ],
+                [
+                    -0.0019849096568852302,
+                    -0.3571938726889853,
+                    -0.9340281566671852
+                ]
+            ],
+            "translation_vector": [
+                0.5967125334724381,
+                -0.01278163931856494,
+                0.65354456826794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905593954832,
+                    -0.9339721830596138,
+                    0.3571945531278086
+                ],
+                [
+                    -0.999944022256731,
+                    0.010416265372227916,
+                    -0.0018584317921785506
+                ],
+                [
+                    -0.0019849096568852302,
+                    -0.3571938726889853,
+                    -0.9340281566671852
+                ]
+            ],
+            "translation_vector": [
+                0.5967125334724381,
+                -0.01278163931856494,
+                0.65354456826794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392905593954832,
+                    -0.9339721830596138,
+                    0.3571945531278086
+                ],
+                [
+                    -0.999944022256731,
+                    0.010416265372227916,
+                    -0.0018584317921785506
+                ],
+                [
+                    -0.0019849096568852302,
+                    -0.3571938726889853,
+                    -0.9340281566671852
+                ]
+            ],
+            "translation_vector": [
+                0.5967125334724381,
+                -0.01278163931856494,
+                0.65354456826794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039290029279711,
+                    -0.9339712317916506,
+                    0.35719704059397117
+                ],
+                [
+                    -0.9999440222568423,
+                    0.010416265366216286,
+                    -0.0018584317659417926
+                ],
+                [
+                    -0.0019849373572165545,
+                    -0.35719636000582045,
+                    -0.934027205397295
+                ]
+            ],
+            "translation_vector": [
+                0.596712710580266,
+                -0.012781639315502094,
+                0.6535448483023376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392884388881711,
+                    -0.9339683779480168,
+                    0.35720450297725836
+                ],
+                [
+                    -0.9999440222571764,
+                    0.010416265348181568,
+                    -0.0018584316872320068
+                ],
+                [
+                    -0.00198502045812509,
+                    -0.3572038219411252,
+                    -0.9340243515478781
+                ]
+            ],
+            "translation_vector": [
+                0.5967132418992749,
+                -0.012781639306313618,
+                0.65354568840836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392873785902335,
+                    -0.9339664753524737,
+                    0.3572094778867825
+                ],
+                [
+                    -0.999944022257399,
+                    0.010416265336158706,
+                    -0.001858431634758629
+                ],
+                [
+                    -0.001985075858660391,
+                    -0.35720879655199445,
+                    -0.9340224489484776
+                ]
+            ],
+            "translation_vector": [
+                0.5967135961082185,
+                -0.012781639300187969,
+                0.6535462484814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392896875780324,
+                    -0.9339706195860485,
+                    0.35719864143720154
+                ],
+                [
+                    -0.9999440222569607,
+                    0.010416265358959108,
+                    -0.0018584317429621092
+                ],
+                [
+                    -0.0019849551886369065,
+                    -0.3571979607528923,
+                    -0.9340265931904055
+                ]
+            ],
+            "translation_vector": [
+                0.5967131582649495,
+                -0.012781639311445395,
+                0.653544609967305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288969026069,
+                    -0.9339693292358523,
+                    0.35720201551869596
+                ],
+                [
+                    -0.9999440222570651,
+                    0.010416265354193136,
+                    -0.0018584317134686583
+                ],
+                [
+                    -0.001984992757836427,
+                    -0.3572013346318903,
+                    -0.9340253028376417
+                ]
+            ],
+            "translation_vector": [
+                0.5967130647936844,
+                -0.01278163930937645,
+                0.6535454083725475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392859765278595,
+                    -0.9339639604949911,
+                    0.35721605361798964
+                ],
+                [
+                    -0.9999440222577403,
+                    0.010416265316879284,
+                    -0.0018584315593052456
+                ],
+                [
+                    -0.0019851490904959908,
+                    -0.3572153718883883,
+                    -0.9340199340858467
+                ]
+            ],
+            "translation_vector": [
+                0.5967143979955027,
+                -0.012781639290005638,
+                0.6535466465173642
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392859765278595,
+                    -0.9339639604949911,
+                    0.35721605361798964
+                ],
+                [
+                    -0.9999440222577403,
+                    0.010416265316879284,
+                    -0.0018584315593052456
+                ],
+                [
+                    -0.0019851490904959908,
+                    -0.3572153718883883,
+                    -0.9340199340858467
+                ]
+            ],
+            "translation_vector": [
+                0.5967143979955027,
+                -0.012781639290005638,
+                0.6535466465173642
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458064047712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392875670222049,
+                    -0.9339668144309029,
+                    0.3572085912699955
+                ],
+                [
+                    -0.9999440222574059,
+                    0.010416265334913213,
+                    -0.0018584316380153097
+                ],
+                [
+                    -0.001985065989784139,
+                    -0.3572079099883764,
+                    -0.9340227880275471
+                ]
+            ],
+            "translation_vector": [
+                0.5967138666868832,
+                -0.01278163929919408,
+                0.6535458826987164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535458921506989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535454500742381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01039288097172222,
+                    -0.9339677657296257,
+                    0.35720610381559736
+                ],
+                [
+                    -0.9999440222572948,
+                    0.010416265340924637,
+                    -0.0018584316642518606
+                ],
+                [
+                    -0.0019850382895186276,
+                    -0.3572054226833057,
+                    -0.9340237393281987
+                ]
+            ],
+            "translation_vector": [
+                0.5967136895825185,
+                -0.012781639302256892,
+                0.6535455263681835
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.010392879087428964,
+                    -0.9339674266535574,
+                    0.35720699043328713
+                ],
+                [
+                    -0.9999440222572878,
+                    0.010416265342170187,
+                    -0.001858431660995231
+                ],
+                [
+                    -0.0019850481583999938,
+                    -0.35720630924782654,
+                    -0.9340234002514902
+                ]
+            ],
+            "translation_vector": [
+                0.5967134190041196,
+                -0.012781639303250792,
+                0.6535459684446441
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144bd3d3bb542721ac84354a28b99176de830c0
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.57,
+        "fv": 236.654,
+        "pu": 481.391,
+        "pv": 387.1705,
+        "distortion_model": "equidistant",
+        "k1": 0.0998943,
+        "k2": -0.0477212,
+        "k3": 0.0138531,
+        "k4": -0.00177512
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..38efaa86fa9b01b6ae4b17b25cbe8a1ddd15ca33
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.021739553887738516,
+                0.07898492437710736,
+                -0.9966387377168846
+            ],
+            [
+                -0.005464312518363193,
+                -0.9968500540183962,
+                -0.07912086382378922
+            ],
+            [
+                -0.9997487349756757,
+                0.007165997813533757,
+                -0.021239477156292264
+            ]
+        ],
+        "translation_vector": [
+            -0.10160425179890685,
+            0.031164898762871446,
+            -0.03835550522900887
+        ]
+    }
+}
diff --git a/parameters/1957/1237171/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..33672fb4d6add488d39d18bc7ac5c29496c5a9ae
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130993526847008,
+                    -0.936843443842114,
+                    0.3494634126085202
+                ],
+                [
+                    -0.9997487557418218,
+                    0.0071561648160709534,
+                    -0.021241814842537322
+                ],
+                [
+                    0.017399437192725895,
+                    -0.3496757798806972,
+                    -0.9367091910247295
+                ]
+            ],
+            "translation_vector": [
+                0.5627439296252308,
+                -0.038353806692497334,
+                0.6411321612528925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130993526847008,
+                    -0.936843443842114,
+                    0.3494634126085202
+                ],
+                [
+                    -0.9997487557418218,
+                    0.0071561648160709534,
+                    -0.021241814842537322
+                ],
+                [
+                    0.017399437192725895,
+                    -0.3496757798806972,
+                    -0.9367091910247295
+                ]
+            ],
+            "translation_vector": [
+                0.5627439296252308,
+                -0.038353806692497334,
+                0.6411321612528925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411338674111055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413197956687973,
+                    -0.9368236188512367,
+                    0.34951651508332876
+                ],
+                [
+                    -0.9997487557549183,
+                    0.0071561646767454665,
+                    -0.02124181427309043
+                ],
+                [
+                    0.017398635579103892,
+                    -0.3497288899556238,
+                    -0.9366893780813325
+                ]
+            ],
+            "translation_vector": [
+                0.5627490707460633,
+                -0.038353806628308534,
+                0.6411355122709091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411345643652535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411345643652535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131142557236876,
+                    -0.9368404472345139,
+                    0.349471439799398
+                ],
+                [
+                    -0.9997487557445228,
+                    0.007156164778861433,
+                    -0.021241814727963992
+                ],
+                [
+                    0.017399316001107903,
+                    -0.34968380821979034,
+                    -0.9367061962385004
+                ]
+            ],
+            "translation_vector": [
+                0.562746274421517,
+                -0.03835380667358802,
+                0.6411311362445684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131142557236876,
+                    -0.9368404472345139,
+                    0.349471439799398
+                ],
+                [
+                    -0.9997487557445228,
+                    0.007156164778861433,
+                    -0.021241814727963992
+                ],
+                [
+                    0.017399316001107903,
+                    -0.34968380821979034,
+                    -0.9367061962385004
+                ]
+            ],
+            "translation_vector": [
+                0.562746274421517,
+                -0.03835380667358802,
+                0.6411311362445684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131129267481314,
+                    -0.9368407146268511,
+                    0.34947072352784786
+                ],
+                [
+                    -0.9997487557440433,
+                    0.007156164787522488,
+                    -0.021241814747612577
+                ],
+                [
+                    0.01739932682214447,
+                    -0.34968309184601076,
+                    -0.9367064634682262
+                ]
+            ],
+            "translation_vector": [
+                0.5627455466691117,
+                -0.03835380667832048,
+                0.6411316137498171
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411326379120407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411326379120407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131575968841409,
+                    -0.9368317336301896,
+                    0.3494947802529979
+                ],
+                [
+                    -0.9997487557499907,
+                    0.007156164724080165,
+                    -0.021241814489070227
+                ],
+                [
+                    0.017398963675549745,
+                    -0.34970715201421926,
+                    -0.9366974879293323
+                ]
+            ],
+            "translation_vector": [
+                0.562747907082431,
+                -0.0383538066490573,
+                0.6411331759598011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131188879383524,
+                    -0.9368395159670024,
+                    0.34947393439792923
+                ],
+                [
+                    -0.9997487557451231,
+                    0.007156164772638859,
+                    -0.021241814701783143
+                ],
+                [
+                    0.017399278345185166,
+                    -0.34968630317537436,
+                    -0.9367052655369285
+                ]
+            ],
+            "translation_vector": [
+                0.5627464845853744,
+                -0.03835380667075674,
+                0.6411312495233202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131188879383524,
+                    -0.9368395159670024,
+                    0.34947393439792923
+                ],
+                [
+                    -0.9997487557451231,
+                    0.007156164772638859,
+                    -0.021241814701783143
+                ],
+                [
+                    0.017399278345185166,
+                    -0.34968630317537436,
+                    -0.9367052655369285
+                ]
+            ],
+            "translation_vector": [
+                0.5627464845853744,
+                -0.03835380667075674,
+                0.6411312495233202
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131437004614524,
+                    -0.9368345275793605,
+                    0.3494872965121075
+                ],
+                [
+                    -0.9997487557481882,
+                    0.0071561647427462296,
+                    -0.02124181456761299
+                ],
+                [
+                    0.0173990766460403,
+                    -0.34969966720220347,
+                    -0.9367002801806639
+                ]
+            ],
+            "translation_vector": [
+                0.5627472766020012,
+                -0.03835380665755106,
+                0.641132607229358
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411329037813208
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411329037813208
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131205395564003,
+                    -0.9368391840284234,
+                    0.3494748235610493
+                ],
+                [
+                    -0.9997487557451838,
+                    0.007156164773857927,
+                    -0.021241814698516947
+                ],
+                [
+                    0.01739926492772375,
+                    -0.34968719246590607,
+                    -0.9367049338000134
+                ]
+            ],
+            "translation_vector": [
+                0.5627462257911873,
+                -0.03835380667170732,
+                0.6411316593564802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130527070074284,
+                    -0.936852820475042,
+                    0.34943829351214684
+                ],
+                [
+                    -0.9997487557362328,
+                    0.007156164868422799,
+                    -0.021241815087961018
+                ],
+                [
+                    0.017399816337452276,
+                    -0.34965065718847915,
+                    -0.9367185619592943
+                ]
+            ],
+            "translation_vector": [
+                0.5627428144911399,
+                -0.038353806715126997,
+                0.6411291493577786
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130527070074284,
+                    -0.936852820475042,
+                    0.34943829351214684
+                ],
+                [
+                    -0.9997487557362328,
+                    0.007156164868422799,
+                    -0.021241815087961018
+                ],
+                [
+                    0.017399816337452276,
+                    -0.34965065718847915,
+                    -0.9367185619592943
+                ]
+            ],
+            "translation_vector": [
+                0.5627428144911399,
+                -0.038353806715126997,
+                0.6411291493577786
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130801782922532,
+                    -0.9368472978398329,
+                    0.3494530883697786
+                ],
+                [
+                    -0.9997487557402565,
+                    0.007156164821202062,
+                    -0.021241814914494943
+                ],
+                [
+                    0.017399593006206113,
+                    -0.3496654541633422,
+                    -0.9367130426806082
+                ]
+            ],
+            "translation_vector": [
+                0.562745062052738,
+                -0.038353806692456284,
+                0.6411293994195515
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131529647532901,
+                    -0.936832664953224,
+                    0.3494922856751799
+                ],
+                [
+                    -0.9997487557493896,
+                    0.007156164730302269,
+                    -0.021241814515251152
+                ],
+                [
+                    0.017399001332503276,
+                    -0.349704657079361,
+                    -0.9366984186864193
+                ]
+            ],
+            "translation_vector": [
+                0.5627476969227927,
+                -0.03835380665188855,
+                0.6411329863824271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131529647532901,
+                    -0.936832664953224,
+                    0.3494922856751799
+                ],
+                [
+                    -0.9997487557493896,
+                    0.007156164730302269,
+                    -0.021241814515251152
+                ],
+                [
+                    0.017399001332503276,
+                    -0.349704657079361,
+                    -0.9366984186864193
+                ]
+            ],
+            "translation_vector": [
+                0.5627476969227927,
+                -0.03835380665188855,
+                0.6411329863824271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413243953943608,
+                    -0.9368143692326214,
+                    0.34954128762129205
+                ],
+                [
+                    -0.9997487557613454,
+                    0.007156164604656221,
+                    -0.021241813994895813
+                ],
+                [
+                    0.01739826158864347,
+                    -0.34975366603859603,
+                    -0.9366801340832721
+                ]
+            ],
+            "translation_vector": [
+                0.562752158818679,
+                -0.03835380659431309,
+                0.6411363681977009
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131681900578253,
+                    -0.9368296035496355,
+                    0.34950048566446157
+                ],
+                [
+                    -0.9997487557516719,
+                    0.007156164702976075,
+                    -0.021241814417059513
+                ],
+                [
+                    0.017398877539823637,
+                    -0.3497128582419833,
+                    -0.9366953591432903
+                ]
+            ],
+            "translation_vector": [
+                0.5627490551502611,
+                -0.03835380663866234,
+                0.6411329250243267
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131681900578253,
+                    -0.9368296035496355,
+                    0.34950048566446157
+                ],
+                [
+                    -0.9997487557516719,
+                    0.007156164702976075,
+                    -0.021241814417059513
+                ],
+                [
+                    0.017398877539823637,
+                    -0.3497128582419833,
+                    -0.9366953591432903
+                ]
+            ],
+            "translation_vector": [
+                0.5627490551502611,
+                -0.03835380663866234,
+                0.6411329250243267
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131761253073414,
+                    -0.9368280082716064,
+                    0.3495047585394827
+                ],
+                [
+                    -0.999748755752394,
+                    0.007156164699192985,
+                    -0.021241814384346393
+                ],
+                [
+                    0.017398813046502117,
+                    -0.3497171317288503,
+                    -0.9366937648345481
+                ]
+            ],
+            "translation_vector": [
+                0.5627487477159361,
+                -0.038353806637732295,
+                0.6411338579809488
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131403972598055,
+                    -0.9368351914793579,
+                    0.34948551819438706
+                ],
+                [
+                    -0.999748755748067,
+                    0.007156164740307786,
+                    -0.02124181457414502
+                ],
+                [
+                    0.01739910348138714,
+                    -0.34969788862966505,
+                    -0.9367009436773294
+                ]
+            ],
+            "translation_vector": [
+                0.5627477941917857,
+                -0.03835380665564986,
+                0.6411317875607974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131403972598055,
+                    -0.9368351914793579,
+                    0.34948551819438706
+                ],
+                [
+                    -0.999748755748067,
+                    0.007156164740307786,
+                    -0.02124181457414502
+                ],
+                [
+                    0.01739910348138714,
+                    -0.34969788862966505,
+                    -0.9367009436773294
+                ]
+            ],
+            "translation_vector": [
+                0.5627477941917857,
+                -0.03835380665564986,
+                0.6411317875607974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131437004614524,
+                    -0.9368345275793605,
+                    0.3494872965121075
+                ],
+                [
+                    -0.9997487557481882,
+                    0.0071561647427462296,
+                    -0.02124181456761299
+                ],
+                [
+                    0.0173990766460403,
+                    -0.34969966720220347,
+                    -0.9367002801806639
+                ]
+            ],
+            "translation_vector": [
+                0.5627472766020012,
+                -0.03835380665755106,
+                0.6411325309354127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131403972598055,
+                    -0.9368351914793579,
+                    0.34948551819438706
+                ],
+                [
+                    -0.999748755748067,
+                    0.007156164740307786,
+                    -0.02124181457414502
+                ],
+                [
+                    0.01739910348138714,
+                    -0.34969788862966505,
+                    -0.9367009436773294
+                ]
+            ],
+            "translation_vector": [
+                0.5627477941917857,
+                -0.03835380665564986,
+                0.6411317875607974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131403972598055,
+                    -0.9368351914793579,
+                    0.34948551819438706
+                ],
+                [
+                    -0.999748755748067,
+                    0.007156164740307786,
+                    -0.02124181457414502
+                ],
+                [
+                    0.01739910348138714,
+                    -0.34969788862966505,
+                    -0.9367009436773294
+                ]
+            ],
+            "translation_vector": [
+                0.5627477941917857,
+                -0.03835380665564986,
+                0.6411317875607974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131344361295227,
+                    -0.9368363901789191,
+                    0.3494823073391202
+                ],
+                [
+                    -0.9997487557469864,
+                    0.007156164755190737,
+                    -0.02124181461997472
+                ],
+                [
+                    0.017399151959083817,
+                    -0.34969467731512505,
+                    -0.9367021416483341
+                ]
+            ],
+            "translation_vector": [
+                0.5627468562791902,
+                -0.03835380666321357,
+                0.6411322280785279
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413106642893028,
+                    -0.9368419778181276,
+                    0.3494673397606709
+                ],
+                [
+                    -0.9997487557433814,
+                    0.007156164792525796,
+                    -0.02124181477705929
+                ],
+                [
+                    0.01739937789525355,
+                    -0.34967970759436595,
+                    -0.9367077258919011
+                ]
+            ],
+            "translation_vector": [
+                0.5627455952986405,
+                -0.038353806680201115,
+                0.6411311669334152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413106642893028,
+                    -0.9368419778181276,
+                    0.3494673397606709
+                ],
+                [
+                    -0.9997487557433814,
+                    0.007156164792525796,
+                    -0.02124181477705929
+                ],
+                [
+                    0.01739937789525355,
+                    -0.34967970759436595,
+                    -0.9367077258919011
+                ]
+            ],
+            "translation_vector": [
+                0.5627455952986405,
+                -0.038353806680201115,
+                0.6411311669334152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131251717574568,
+                    -0.9368382527518999,
+                    0.3494773181562184
+                ],
+                [
+                    -0.9997487557457849,
+                    0.007156164767635324,
+                    -0.021241814672336393
+                ],
+                [
+                    0.017399227271634003,
+                    -0.34968968741812584,
+                    -0.9367040030894308
+                ]
+            ],
+            "translation_vector": [
+                0.5627464359543598,
+                -0.03835380666887609,
+                0.6411318489299364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131298039484956,
+                    -0.9368373214687317,
+                    0.34947981274890866
+                ],
+                [
+                    -0.9997487557463858,
+                    0.00715616476141289,
+                    -0.02124181464615554
+                ],
+                [
+                    0.017399189615420686,
+                    -0.3496921823678656,
+                    -0.9367030723722043
+                ]
+            ],
+            "translation_vector": [
+                0.5627466461170275,
+                -0.03835380666604483,
+                0.6411320385039523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131298039484956,
+                    -0.9368373214687317,
+                    0.34947981274890866
+                ],
+                [
+                    -0.9997487557463858,
+                    0.00715616476141289,
+                    -0.02124181464615554
+                ],
+                [
+                    0.017399189615420686,
+                    -0.3496921823678656,
+                    -0.9367030723722043
+                ]
+            ],
+            "translation_vector": [
+                0.5627466461170275,
+                -0.03835380666604483,
+                0.6411320385039523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131437004614524,
+                    -0.9368345275793605,
+                    0.3494872965121075
+                ],
+                [
+                    -0.9997487557481882,
+                    0.0071561647427462296,
+                    -0.02124181456761299
+                ],
+                [
+                    0.0173990766460403,
+                    -0.34969966720220347,
+                    -0.9367002801806639
+                ]
+            ],
+            "translation_vector": [
+                0.5627472766020012,
+                -0.03835380665755106,
+                0.641132607229358
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131374166967267,
+                    -0.9368357908305143,
+                    0.34948391276726687
+                ],
+                [
+                    -0.9997487557475265,
+                    0.007156164747749017,
+                    -0.021241814597060135
+                ],
+                [
+                    0.017399127720261445,
+                    -0.3496962829729085,
+                    -0.9367015426642075
+                ]
+            ],
+            "translation_vector": [
+                0.562747325235755,
+                -0.03835380665943172,
+                0.6411320078197051
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131374166967267,
+                    -0.9368357908305143,
+                    0.34948391276726687
+                ],
+                [
+                    -0.9997487557475265,
+                    0.007156164747749017,
+                    -0.021241814597060135
+                ],
+                [
+                    0.017399127720261445,
+                    -0.3496962829729085,
+                    -0.9367015426642075
+                ]
+            ],
+            "translation_vector": [
+                0.562747325235755,
+                -0.03835380665943172,
+                0.6411320078197051
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131453520603812,
+                    -0.9368341956280957,
+                    0.3494881856704952
+                ],
+                [
+                    -0.9997487557482487,
+                    0.007156164743965642,
+                    -0.021241814564346928
+                ],
+                [
+                    0.017399063228343305,
+                    -0.3497005564879998,
+                    -0.9366999484310651
+                ]
+            ],
+            "translation_vector": [
+                0.5627470178065255,
+                -0.03835380665850166,
+                0.64113301706327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131390683004931,
+                    -0.9368354588824621,
+                    0.34948480192685316
+                ],
+                [
+                    -0.9997487557475873,
+                    0.007156164748968436,
+                    -0.0212418145937938
+                ],
+                [
+                    0.0173991143026237,
+                    -0.34969717225990415,
+                    -0.9367012109178209
+                ]
+            ],
+            "translation_vector": [
+                0.5627470664408482,
+                -0.03835380666038231,
+                0.6411324939476084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131390683004931,
+                    -0.9368354588824621,
+                    0.34948480192685316
+                ],
+                [
+                    -0.9997487557475873,
+                    0.007156164748968436,
+                    -0.0212418145937938
+                ],
+                [
+                    0.0173991143026237,
+                    -0.34969717225990415,
+                    -0.9367012109178209
+                ]
+            ],
+            "translation_vector": [
+                0.5627470664408482,
+                -0.03835380666038231,
+                0.6411324939476084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411326379120407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131390683004931,
+                    -0.9368354588824621,
+                    0.34948480192685316
+                ],
+                [
+                    -0.9997487557475873,
+                    0.007156164748968436,
+                    -0.0212418145937938
+                ],
+                [
+                    0.0173991143026237,
+                    -0.34969717225990415,
+                    -0.9367012109178209
+                ]
+            ],
+            "translation_vector": [
+                0.5627470664408482,
+                -0.03835380666038231,
+                0.6411324176536631
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131390683004931,
+                    -0.9368354588824621,
+                    0.34948480192685316
+                ],
+                [
+                    -0.9997487557475873,
+                    0.007156164748968436,
+                    -0.0212418145937938
+                ],
+                [
+                    0.0173991143026237,
+                    -0.34969717225990415,
+                    -0.9367012109178209
+                ]
+            ],
+            "translation_vector": [
+                0.5627470664408482,
+                -0.03835380666038231,
+                0.6411324176536631
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131437004614524,
+                    -0.9368345275793605,
+                    0.3494872965121075
+                ],
+                [
+                    -0.9997487557481882,
+                    0.0071561647427462296,
+                    -0.02124181456761299
+                ],
+                [
+                    0.0173990766460403,
+                    -0.34969966720220347,
+                    -0.9367002801806639
+                ]
+            ],
+            "translation_vector": [
+                0.5627472766020012,
+                -0.03835380665755106,
+                0.641132607229358
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131420488612715,
+                    -0.9368348595297811,
+                    0.34948640735340475
+                ],
+                [
+                    -0.9997487557481274,
+                    0.007156164741526985,
+                    -0.02124181457087909
+                ],
+                [
+                    0.01739909006372171,
+                    -0.34969877791609183,
+                    -0.9367006119294187
+                ]
+            ],
+            "translation_vector": [
+                0.562747535397088,
+                -0.03835380665660045,
+                0.6411321973952006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131420488612715,
+                    -0.9368348595297811,
+                    0.34948640735340475
+                ],
+                [
+                    -0.9997487557481274,
+                    0.007156164741526985,
+                    -0.02124181457087909
+                ],
+                [
+                    0.01739909006372171,
+                    -0.34969877791609183,
+                    -0.9367006119294187
+                ]
+            ],
+            "translation_vector": [
+                0.562747535397088,
+                -0.03835380665660045,
+                0.6411321973952006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131622290049802,
+                    -0.9368308023005103,
+                    0.3494972748283374
+                ],
+                [
+                    -0.9997487557505915,
+                    0.007156164717858193,
+                    -0.021241814462889228
+                ],
+                [
+                    0.017398926018472816,
+                    -0.3497096469465976,
+                    -0.9366965571656013
+                ]
+            ],
+            "translation_vector": [
+                0.5627481172415647,
+                -0.038353806646226035,
+                0.6411333655377348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131622290049802,
+                    -0.9368308023005103,
+                    0.3494972748283374
+                ],
+                [
+                    -0.9997487557505915,
+                    0.007156164717858193,
+                    -0.021241814462889228
+                ],
+                [
+                    0.017398926018472816,
+                    -0.3497096469465976,
+                    -0.9366965571656013
+                ]
+            ],
+            "translation_vector": [
+                0.5627481172415647,
+                -0.038353806646226035,
+                0.6411333655377348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132240972014275,
+                    -0.936818362418517,
+                    0.34953059322554025
+                ],
+                [
+                    -0.9997487557584627,
+                    0.007156164638199143,
+                    -0.021241814119269713
+                ],
+                [
+                    0.017398423046803245,
+                    -0.3497429701125673,
+                    -0.936684124842695
+                ]
+            ],
+            "translation_vector": [
+                0.5627505904658214,
+                -0.03835380661037048,
+                0.6411363162330528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131963051296607,
+                    -0.936823950829397,
+                    0.34951562593497465
+                ],
+                [
+                    -0.9997487557548577,
+                    0.007156164675526192,
+                    -0.021241814276356477
+                ],
+                [
+                    0.01739864899730018,
+                    -0.349728000679867,
+                    -0.9366897098578228
+                ]
+            ],
+            "translation_vector": [
+                0.5627493295439077,
+                -0.038353806627357934,
+                0.6411351787289936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131963051296607,
+                    -0.936823950829397,
+                    0.34951562593497465
+                ],
+                [
+                    -0.9997487557548577,
+                    0.007156164675526192,
+                    -0.021241814276356477
+                ],
+                [
+                    0.01739864899730018,
+                    -0.349728000679867,
+                    -0.9366897098578228
+                ]
+            ],
+            "translation_vector": [
+                0.5627493295439077,
+                -0.038353806627357934,
+                0.6411351787289936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131900215193985,
+                    -0.9368252141829031,
+                    0.34951224222831834
+                ],
+                [
+                    -0.9997487557541964,
+                    0.007156164680528074,
+                    -0.021241814305803425
+                ],
+                [
+                    0.017398700073421237,
+                    -0.3497246164887797,
+                    -0.936690972443704
+                ]
+            ],
+            "translation_vector": [
+                0.5627493781857635,
+                -0.038353806629238554,
+                0.6411345030170906
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413148332612377,
+                    -0.9368335962696145,
+                    0.349489791094883
+                ],
+                [
+                    -0.9997487557487889,
+                    0.007156164736524247,
+                    -0.021241814541431876
+                ],
+                [
+                    0.017399038989333232,
+                    -0.34970216214202227,
+                    -0.9366993494368633
+                ]
+            ],
+            "translation_vector": [
+                0.5627474867626494,
+                -0.03835380665471978,
+                0.6411327968056127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411331303457788
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411331303457788
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131420488612715,
+                    -0.9368348595297811,
+                    0.34948640735340475
+                ],
+                [
+                    -0.9997487557481274,
+                    0.007156164741526985,
+                    -0.02124181457087909
+                ],
+                [
+                    0.01739909006372171,
+                    -0.34969877791609183,
+                    -0.9367006119294187
+                ]
+            ],
+            "translation_vector": [
+                0.562747535397088,
+                -0.03835380665660045,
+                0.6411321211012553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131731447940585,
+                    -0.9368286076557442,
+                    0.3495031531246662
+                ],
+                [
+                    -0.9997487557518536,
+                    0.007156164706634066,
+                    -0.021241814407261358
+                ],
+                [
+                    0.0173988372859882,
+                    -0.349715526084405,
+                    -0.936694363854403
+                ]
+            ],
+            "translation_vector": [
+                0.5627482787617617,
+                -0.03835380664151415,
+                0.6411341545303901
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131731447940585,
+                    -0.9368286076557442,
+                    0.3495031531246662
+                ],
+                [
+                    -0.9997487557518536,
+                    0.007156164706634066,
+                    -0.021241814407261358
+                ],
+                [
+                    0.0173988372859882,
+                    -0.349715526084405,
+                    -0.936694363854403
+                ]
+            ],
+            "translation_vector": [
+                0.5627482787617617,
+                -0.03835380664151415,
+                0.6411341545303901
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171493216566,
+                    -0.9368289396212188,
+                    0.34950226397157963
+                ],
+                [
+                    -0.9997487557517931,
+                    0.007156164705414534,
+                    -0.021241814410527315
+                ],
+                [
+                    0.017398850703949045,
+                    -0.3497146368039128,
+                    -0.9366946956182094
+                ]
+            ],
+            "translation_vector": [
+                0.5627485375583171,
+                -0.03835380664056354,
+                0.641133668401336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171493216566,
+                    -0.9368289396212188,
+                    0.34950226397157963
+                ],
+                [
+                    -0.9997487557517931,
+                    0.007156164705414534,
+                    -0.021241814410527315
+                ],
+                [
+                    0.017398850703949045,
+                    -0.3497146368039128,
+                    -0.9366946956182094
+                ]
+            ],
+            "translation_vector": [
+                0.5627485375583171,
+                -0.03835380664056354,
+                0.6411337446952814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171493216566,
+                    -0.9368289396212188,
+                    0.34950226397157963
+                ],
+                [
+                    -0.9997487557517931,
+                    0.007156164705414534,
+                    -0.021241814410527315
+                ],
+                [
+                    0.017398850703949045,
+                    -0.3497146368039128,
+                    -0.9366946956182094
+                ]
+            ],
+            "translation_vector": [
+                0.5627485375583171,
+                -0.03835380664056354,
+                0.6411337446952814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131622290049802,
+                    -0.9368308023005103,
+                    0.3494972748283374
+                ],
+                [
+                    -0.9997487557505915,
+                    0.007156164717858193,
+                    -0.021241814462889228
+                ],
+                [
+                    0.017398926018472816,
+                    -0.3497096469465976,
+                    -0.9366965571656013
+                ]
+            ],
+            "translation_vector": [
+                0.5627481172415647,
+                -0.038353806646226035,
+                0.6411333655377348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131764479451659,
+                    -0.9368279437222622,
+                    0.3495049314298948
+                ],
+                [
+                    -0.9997487557519747,
+                    0.007156164709072624,
+                    -0.021241814400729368
+                ],
+                [
+                    0.0173988104500197,
+                    -0.3497173046444439,
+                    -0.9366937003242573
+                ]
+            ],
+            "translation_vector": [
+                0.5627477611674836,
+                -0.03835380664341537,
+                0.6411349741998709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131764479451659,
+                    -0.9368279437222622,
+                    0.3495049314298948
+                ],
+                [
+                    -0.9997487557519747,
+                    0.007156164709072624,
+                    -0.021241814400729368
+                ],
+                [
+                    0.0173988104500197,
+                    -0.3497173046444439,
+                    -0.9366937003242573
+                ]
+            ],
+            "translation_vector": [
+                0.5627477611674836,
+                -0.03835380664341537,
+                0.6411349741998709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413181080025201,
+                    -0.9368270123655453,
+                    0.34950742599514734
+                ],
+                [
+                    -0.9997487557525762,
+                    0.007156164702850997,
+                    -0.021241814374548466
+                ],
+                [
+                    0.017398772792440845,
+                    -0.3497197995667291,
+                    -0.9366927695334927
+                ]
+            ],
+            "translation_vector": [
+                0.5627479713245627,
+                -0.038353806640584145,
+                0.6411352400740274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.641133913024302
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.641133913024302
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131208622025836,
+                    -0.9368391194846056,
+                    0.3494749964535236
+                ],
+                [
+                    -0.9997487557447654,
+                    0.007156164783738324,
+                    -0.0212418147148996
+                ],
+                [
+                    0.017399262331343826,
+                    -0.3496873653835629,
+                    -0.9367048692952484
+                ]
+            ],
+            "translation_vector": [
+                0.5627452392431547,
+                -0.03835380667739041,
+                0.6411326992809914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131105914422902,
+                    -0.9368411848670861,
+                    0.3494694638769895
+                ],
+                [
+                    -0.9997487557426655,
+                    0.007156164814725305,
+                    -0.021241814803292146
+                ],
+                [
+                    0.01739934586782595,
+                    -0.34968183201587644,
+                    -0.9367069334222915
+                ]
+            ],
+            "translation_vector": [
+                0.5627431046074489,
+                -0.03835380669346849,
+                0.641134066439997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131105914422902,
+                    -0.9368411848670861,
+                    0.3494694638769895
+                ],
+                [
+                    -0.9997487557426655,
+                    0.007156164814725305,
+                    -0.021241814803292146
+                ],
+                [
+                    0.01739934586782595,
+                    -0.34968183201587644,
+                    -0.9367069334222915
+                ]
+            ],
+            "translation_vector": [
+                0.5627431046074489,
+                -0.03835380669346849,
+                0.641134066439997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131367330232418,
+                    -0.9368359291416319,
+                    0.34948354228305833
+                ],
+                [
+                    -0.9997487557462097,
+                    0.007156164776170405,
+                    -0.021241814649473886
+                ],
+                [
+                    0.017399133348656868,
+                    -0.3496959124368378,
+                    -0.9367016808908182
+                ]
+            ],
+            "translation_vector": [
+                0.5627446243828985,
+                -0.03835380667553034,
+                0.641134717756575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131367330232418,
+                    -0.9368359291416319,
+                    0.34948354228305833
+                ],
+                [
+                    -0.9997487557462097,
+                    0.007156164776170405,
+                    -0.021241814649473886
+                ],
+                [
+                    0.017399133348656868,
+                    -0.3496959124368378,
+                    -0.9367016808908182
+                ]
+            ],
+            "translation_vector": [
+                0.5627446243828985,
+                -0.03835380667553034,
+                0.641134717756575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131734674323378,
+                    -0.9368285431066963,
+                    0.3495033260151898
+                ],
+                [
+                    -0.999748755751435,
+                    0.007156164716513768,
+                    -0.02124181442364439
+                ],
+                [
+                    0.017398834689511422,
+                    -0.34971569900011024,
+                    -0.9366942993444084
+                ]
+            ],
+            "translation_vector": [
+                0.562747292212357,
+                -0.038353806647197244,
+                0.6411351944543917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131473263002438,
+                    -0.936833799129538,
+                    0.34948924772006135
+                ],
+                [
+                    -0.9997487557478907,
+                    0.007156164755065115,
+                    -0.02124181457746349
+                ],
+                [
+                    0.017399047214201664,
+                    -0.3497016186901566,
+                    -0.9366995521732265
+                ]
+            ],
+            "translation_vector": [
+                0.5627457724604789,
+                -0.03835380666513535,
+                0.6411343905258233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131473263002438,
+                    -0.936833799129538,
+                    0.34948924772006135
+                ],
+                [
+                    -0.9997487557478907,
+                    0.007156164755065115,
+                    -0.02124181457746349
+                ],
+                [
+                    0.017399047214201664,
+                    -0.3497016186901566,
+                    -0.9366995521732265
+                ]
+            ],
+            "translation_vector": [
+                0.5627457724604789,
+                -0.03835380666513535,
+                0.6411343905258233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131873636617115,
+                    -0.9368257490294398,
+                    0.34951080970829596
+                ],
+                [
+                    -0.9997487557532373,
+                    0.007156164697848902,
+                    -0.02124181434510131
+                ],
+                [
+                    0.01739872171664265,
+                    -0.34972318376431266,
+                    -0.9366915069650096
+                ]
+            ],
+            "translation_vector": [
+                0.5627479226830543,
+                -0.0383538066387035,
+                0.6411356869016787
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151958443329,
+                    -0.9368328678145947,
+                    0.34949174230089763
+                ],
+                [
+                    -0.9997487557484913,
+                    0.007156164748843007,
+                    -0.021241814551282552
+                ],
+                [
+                    0.017399009557398353,
+                    -0.34970411362803516,
+                    -0.9366986214242295
+                ]
+            ],
+            "translation_vector": [
+                0.562745982620732,
+                -0.03835380666230408,
+                0.6411346563964611
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151958443329,
+                    -0.9368328678145947,
+                    0.34949174230089763
+                ],
+                [
+                    -0.9997487557484913,
+                    0.007156164748843007,
+                    -0.021241814551282552
+                ],
+                [
+                    0.017399009557398353,
+                    -0.34970411362803516,
+                    -0.9366986214242295
+                ]
+            ],
+            "translation_vector": [
+                0.562745982620732,
+                -0.03835380666230408,
+                0.6411346563964611
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131906667909028,
+                    -0.9368250850814198,
+                    0.3495125880081006
+                ],
+                [
+                    -0.9997487557533584,
+                    0.0071561647002877605,
+                    -0.02124181433856924
+                ],
+                [
+                    0.017398694880403964,
+                    -0.3497249623189244,
+                    -0.9366908434203283
+                ]
+            ],
+            "translation_vector": [
+                0.5627474050857222,
+                -0.03835380664060472,
+                0.641136659158374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131966277644584,
+                    -0.9368238862780468,
+                    0.34951579882463885
+                ],
+                [
+                    -0.9997487557544388,
+                    0.00715616468540563,
+                    -0.021241814292739365
+                ],
+                [
+                    0.017398646400780298,
+                    -0.3497281735947123,
+                    -0.9366896453455263
+                ]
+            ],
+            "translation_vector": [
+                0.562748342994328,
+                -0.038353806633041006,
+                0.6411361423592438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411338674111055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411338674111055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131364103794402,
+                    -0.9368359936870273,
+                    0.34948336939117286
+                ],
+                [
+                    -0.9997487557466284,
+                    0.007156164766290166,
+                    -0.02124181463309145
+                ],
+                [
+                    0.01739913594506625,
+                    -0.3496957395197697,
+                    -0.9367017453971608
+                ]
+            ],
+            "translation_vector": [
+                0.5627456109349497,
+                -0.038353806669847265,
+                0.6411336778357318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131317782027105,
+                    -0.9368369249796688,
+                    0.3494808748020165
+                ],
+                [
+                    -0.9997487557460276,
+                    0.007156164772512675,
+                    -0.021241814659272187
+                ],
+                [
+                    0.017399173601455414,
+                    -0.34969324457356615,
+                    -0.936702676123859
+                ]
+            ],
+            "translation_vector": [
+                0.5627454007730018,
+                -0.03835380667267852,
+                0.6411334119669727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131317782027105,
+                    -0.9368369249796688,
+                    0.3494808748020165
+                ],
+                [
+                    -0.9997487557460276,
+                    0.007156164772512675,
+                    -0.021241814659272187
+                ],
+                [
+                    0.017399173601455414,
+                    -0.34969324457356615,
+                    -0.936702676123859
+                ]
+            ],
+            "translation_vector": [
+                0.5627454007730018,
+                -0.03835380667267852,
+                0.6411334119669727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411337911171602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131364103794402,
+                    -0.9368359936870273,
+                    0.34948336939117286
+                ],
+                [
+                    -0.9997487557466284,
+                    0.007156164766290166,
+                    -0.02124181463309145
+                ],
+                [
+                    0.01739913594506625,
+                    -0.3496957395197697,
+                    -0.9367017453971608
+                ]
+            ],
+            "translation_vector": [
+                0.5627456109349497,
+                -0.038353806669847265,
+                0.6411336778357318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131364103794402,
+                    -0.9368359936870273,
+                    0.34948336939117286
+                ],
+                [
+                    -0.9997487557466284,
+                    0.007156164766290166,
+                    -0.02124181463309145
+                ],
+                [
+                    0.01739913594506625,
+                    -0.3496957395197697,
+                    -0.9367017453971608
+                ]
+            ],
+            "translation_vector": [
+                0.5627456109349497,
+                -0.038353806669847265,
+                0.6411336778357318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131473263002438,
+                    -0.936833799129538,
+                    0.34948924772006135
+                ],
+                [
+                    -0.9997487557478907,
+                    0.007156164755065115,
+                    -0.02124181457746349
+                ],
+                [
+                    0.017399047214201664,
+                    -0.3497016186901566,
+                    -0.9366995521732265
+                ]
+            ],
+            "translation_vector": [
+                0.5627457724604789,
+                -0.03835380666513535,
+                0.6411343905258233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413165854812405,
+                    -0.9368300738298991,
+                    0.3494992260285356
+                ],
+                [
+                    -0.9997487557502938,
+                    0.0071561647301770425,
+                    -0.02124181447274
+                ],
+                [
+                    0.017398896586248352,
+                    -0.34971159842679045,
+                    -0.9366958291373784
+                ]
+            ],
+            "translation_vector": [
+                0.5627466130984626,
+                -0.038353806653810336,
+                0.6411352251298965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413165854812405,
+                    -0.9368300738298991,
+                    0.3494992260285356
+                ],
+                [
+                    -0.9997487557502938,
+                    0.0071561647301770425,
+                    -0.02124181447274
+                ],
+                [
+                    0.017398896586248352,
+                    -0.34971159842679045,
+                    -0.9366958291373784
+                ]
+            ],
+            "translation_vector": [
+                0.5627466130984626,
+                -0.038353806653810336,
+                0.6411352251298965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132012598007917,
+                    -0.9368229548923838,
+                    0.3495182933790921
+                ],
+                [
+                    -0.9997487557550397,
+                    0.007156164679184244,
+                    -0.021241814266558377
+                ],
+                [
+                    0.017398608742664,
+                    -0.3497306685061918,
+                    -0.9366887145258198
+                ]
+            ],
+            "translation_vector": [
+                0.5627485531492076,
+                -0.03835380663020977,
+                0.6411363319418932
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132012598007917,
+                    -0.9368229548923838,
+                    0.3495182933790921
+                ],
+                [
+                    -0.9997487557550397,
+                    0.007156164679184244,
+                    -0.021241814266558377
+                ],
+                [
+                    0.017398608742664,
+                    -0.3497306685061918,
+                    -0.9366887145258198
+                ]
+            ],
+            "translation_vector": [
+                0.5627485531492076,
+                -0.03835380663020977,
+                0.6411363319418932
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131764479451659,
+                    -0.9368279437222622,
+                    0.3495049314298948
+                ],
+                [
+                    -0.9997487557519747,
+                    0.007156164709072624,
+                    -0.021241814400729368
+                ],
+                [
+                    0.0173988104500197,
+                    -0.3497173046444439,
+                    -0.9366937003242573
+                ]
+            ],
+            "translation_vector": [
+                0.5627477611674836,
+                -0.03835380664341537,
+                0.6411349741998709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131685126968352,
+                    -0.9368295390010802,
+                    0.34950065855516815
+                ],
+                [
+                    -0.9997487557512528,
+                    0.007156164712855608,
+                    -0.021241814433442557
+                ],
+                [
+                    0.01739887494335609,
+                    -0.3497130311578716,
+                    -0.9366952946337882
+                ]
+            ],
+            "translation_vector": [
+                0.5627480686038179,
+                -0.03835380664434541,
+                0.6411339649511376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131685126968352,
+                    -0.9368295390010802,
+                    0.34950065855516815
+                ],
+                [
+                    -0.9997487557512528,
+                    0.007156164712855608,
+                    -0.021241814433442557
+                ],
+                [
+                    0.01739887494335609,
+                    -0.3497130311578716,
+                    -0.9366952946337882
+                ]
+            ],
+            "translation_vector": [
+                0.5627480686038179,
+                -0.03835380664434541,
+                0.6411339649511376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411333962167379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411325616180954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411325616180954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411326379120407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131129267481314,
+                    -0.9368407146268511,
+                    0.34947072352784786
+                ],
+                [
+                    -0.9997487557440433,
+                    0.007156164787522488,
+                    -0.021241814747612577
+                ],
+                [
+                    0.01739932682214447,
+                    -0.34968309184601076,
+                    -0.9367064634682262
+                ]
+            ],
+            "translation_vector": [
+                0.5627455466691117,
+                -0.03835380667832048,
+                0.6411316137498171
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131129267481314,
+                    -0.9368407146268511,
+                    0.34947072352784786
+                ],
+                [
+                    -0.9997487557440433,
+                    0.007156164787522488,
+                    -0.021241814747612577
+                ],
+                [
+                    0.01739932682214447,
+                    -0.34968309184601076,
+                    -0.9367064634682262
+                ]
+            ],
+            "translation_vector": [
+                0.5627455466691117,
+                -0.03835380667832048,
+                0.6411316137498171
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411325616180954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132088722947614,
+                    -0.9368214240857101,
+                    0.3495223933346044
+                ],
+                [
+                    -0.9997487557561807,
+                    0.007156164665522395,
+                    -0.021241814217462147
+                ],
+                [
+                    0.017398546844376958,
+                    -0.3497347690483505,
+                    -0.9366871846493907
+                ]
+            ],
+            "translation_vector": [
+                0.5627492322564343,
+                -0.038353806623596665,
+                0.6411363012731028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132181363043906,
+                    -0.9368195612726102,
+                    0.3495273824279253
+                ],
+                [
+                    -0.9997487557573823,
+                    0.007156164653080087,
+                    -0.021241814165100074
+                ],
+                [
+                    0.01739847152736891,
+                    -0.3497397588557142,
+                    -0.9366853229682096
+                ]
+            ],
+            "translation_vector": [
+                0.562749652563019,
+                -0.0383538066179342,
+                0.6411366804419205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132181363043906,
+                    -0.9368195612726102,
+                    0.3495273824279253
+                ],
+                [
+                    -0.9997487557573823,
+                    0.007156164653080087,
+                    -0.021241814165100074
+                ],
+                [
+                    0.01739847152736891,
+                    -0.3497397588557142,
+                    -0.9366853229682096
+                ]
+            ],
+            "translation_vector": [
+                0.562749652563019,
+                -0.0383538066179342,
+                0.6411366804419205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132025887214317,
+                    -0.9368226874636658,
+                    0.34951900963707017
+                ],
+                [
+                    -0.999748755755519,
+                    0.007156164670524154,
+                    -0.02124181424690932
+                ],
+                [
+                    0.01739859792095212,
+                    -0.3497313848663908,
+                    -0.9366884472597182
+                ]
+            ],
+            "translation_vector": [
+                0.5627492809007978,
+                -0.03835380662547729,
+                0.6411357018537194
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131565905763819,
+                    -0.9368319364930077,
+                    0.349494236879256
+                ],
+                [
+                    -0.9997487557490924,
+                    0.007156164742620897,
+                    -0.0212418145251019
+                ],
+                [
+                    0.01739897190047183,
+                    -0.3497066085634341,
+                    -0.9366976906685897
+                ]
+            ],
+            "translation_vector": [
+                0.5627461927804805,
+                -0.038353806659472856,
+                0.6411349222676584
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411329714513627
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411329714513627
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411333442971008
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411325616180954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131360877356008,
+                    -0.9368360582323909,
+                    0.34948319649927506
+                ],
+                [
+                    -0.9997487557470474,
+                    0.00715616475641017,
+                    -0.021241814616708554
+                ],
+                [
+                    0.017399138541474624,
+                    -0.3496955666026895,
+                    -0.9367018099034716
+                ]
+            ],
+            "translation_vector": [
+                0.5627465974840744,
+                -0.03835380666416417,
+                0.6411325616180954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131235201429832,
+                    -0.9368385846928474,
+                    0.34947642899398157
+                ],
+                [
+                    -0.9997487557457243,
+                    0.007156164766416265,
+                    -0.021241814675602367
+                ],
+                [
+                    0.017399240689139277,
+                    -0.349688798128478,
+                    -0.9367043348287136
+                ]
+            ],
+            "translation_vector": [
+                0.5627466947487269,
+                -0.03835380666792548,
+                0.6411314390965769
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413093068789765,
+                    -0.9368447070069774,
+                    0.3494600288314898
+                ],
+                [
+                    -0.9997487557411606,
+                    0.007156164821074973,
+                    -0.021241814871983827
+                ],
+                [
+                    0.017399488265344272,
+                    -0.34967239561919305,
+                    -0.9367104534219951
+                ]
+            ],
+            "translation_vector": [
+                0.5627439782537275,
+                -0.038353806694378,
+                0.6411315618517752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413093068789765,
+                    -0.9368447070069774,
+                    0.3494600288314898
+                ],
+                [
+                    -0.9997487557411606,
+                    0.007156164821074973,
+                    -0.021241814871983827
+                ],
+                [
+                    0.017399488265344272,
+                    -0.34967239561919305,
+                    -0.9367104534219951
+                ]
+            ],
+            "translation_vector": [
+                0.5627439782537275,
+                -0.038353806694378,
+                0.6411315618517752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131298039484956,
+                    -0.9368373214687317,
+                    0.34947981274890866
+                ],
+                [
+                    -0.9997487557463858,
+                    0.00715616476141289,
+                    -0.02124181464615554
+                ],
+                [
+                    0.017399189615420686,
+                    -0.3496921823678656,
+                    -0.9367030723722043
+                ]
+            ],
+            "translation_vector": [
+                0.5627466461170275,
+                -0.03835380666604483,
+                0.6411320385039523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413148332612377,
+                    -0.9368335962696145,
+                    0.349489791094883
+                ],
+                [
+                    -0.9997487557487889,
+                    0.007156164736524247,
+                    -0.021241814541431876
+                ],
+                [
+                    0.017399038989333232,
+                    -0.34970216214202227,
+                    -0.9366993494368633
+                ]
+            ],
+            "translation_vector": [
+                0.5627474867626494,
+                -0.03835380665471978,
+                0.6411327968056127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413148332612377,
+                    -0.9368335962696145,
+                    0.349489791094883
+                ],
+                [
+                    -0.9997487557487889,
+                    0.007156164736524247,
+                    -0.021241814541431876
+                ],
+                [
+                    0.017399038989333232,
+                    -0.34970216214202227,
+                    -0.9366993494368633
+                ]
+            ],
+            "translation_vector": [
+                0.5627474867626494,
+                -0.03835380665471978,
+                0.6411327968056127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131963051296607,
+                    -0.936823950829397,
+                    0.34951562593497465
+                ],
+                [
+                    -0.9997487557548577,
+                    0.007156164675526192,
+                    -0.021241814276356477
+                ],
+                [
+                    0.01739864899730018,
+                    -0.349728000679867,
+                    -0.9366897098578228
+                ]
+            ],
+            "translation_vector": [
+                0.5627493295439077,
+                -0.038353806627357934,
+                0.6411351787289936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131761253073414,
+                    -0.9368280082716064,
+                    0.3495047585394827
+                ],
+                [
+                    -0.999748755752394,
+                    0.007156164699192985,
+                    -0.021241814384346393
+                ],
+                [
+                    0.017398813046502117,
+                    -0.3497171317288503,
+                    -0.9366937648345481
+                ]
+            ],
+            "translation_vector": [
+                0.5627487477159361,
+                -0.038353806637732295,
+                0.6411339342748942
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131761253073414,
+                    -0.9368280082716064,
+                    0.3495047585394827
+                ],
+                [
+                    -0.999748755752394,
+                    0.007156164699192985,
+                    -0.021241814384346393
+                ],
+                [
+                    0.017398813046502117,
+                    -0.3497171317288503,
+                    -0.9366937648345481
+                ]
+            ],
+            "translation_vector": [
+                0.5627487477159361,
+                -0.038353806637732295,
+                0.6411339342748942
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131575968841409,
+                    -0.9368317336301896,
+                    0.3494947802529979
+                ],
+                [
+                    -0.9997487557499907,
+                    0.007156164724080165,
+                    -0.021241814489070227
+                ],
+                [
+                    0.017398963675549745,
+                    -0.34970715201421926,
+                    -0.9366974879293323
+                ]
+            ],
+            "translation_vector": [
+                0.562747907082431,
+                -0.0383538066490573,
+                0.6411331759598011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131513131602358,
+                    -0.9368329969083812,
+                    0.3494913965182442
+                ],
+                [
+                    -0.9997487557493289,
+                    0.0071561647290827755,
+                    -0.021241814518517272
+                ],
+                [
+                    0.01739901475027271,
+                    -0.3497037677950174,
+                    -0.9366987504399099
+                ]
+            ],
+            "translation_vector": [
+                0.5627479557182394,
+                -0.03835380665093793,
+                0.6411325765478706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131513131602358,
+                    -0.9368329969083812,
+                    0.3494913965182442
+                ],
+                [
+                    -0.9997487557493289,
+                    0.0071561647290827755,
+                    -0.021241814518517272
+                ],
+                [
+                    0.01739901475027271,
+                    -0.3497037677950174,
+                    -0.9366987504399099
+                ]
+            ],
+            "translation_vector": [
+                0.5627479557182394,
+                -0.03835380665093793,
+                0.6411325765478706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332829336693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130927461394181,
+                    -0.936844771548032,
+                    0.3494598559379854
+                ],
+                [
+                    -0.9997487557415794,
+                    0.0071561648111944575,
+                    -0.021241814855601414
+                ],
+                [
+                    0.017399490861672924,
+                    -0.3496722227005052,
+                    -0.9367105179239976
+                ]
+            ],
+            "translation_vector": [
+                0.5627449648015501,
+                -0.03835380668869493,
+                0.6411305219274968
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130927461394181,
+                    -0.936844771548032,
+                    0.3494598559379854
+                ],
+                [
+                    -0.9997487557415794,
+                    0.0071561648111944575,
+                    -0.021241814855601414
+                ],
+                [
+                    0.017399490861672924,
+                    -0.3496722227005052,
+                    -0.9367105179239976
+                ]
+            ],
+            "translation_vector": [
+                0.5627449648015501,
+                -0.03835380668869493,
+                0.6411305219274968
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131020106518302,
+                    -0.9368429090680734,
+                    0.3494648451555875
+                ],
+                [
+                    -0.9997487557427805,
+                    0.007156164798748383,
+                    -0.021241814803239962
+                ],
+                [
+                    0.017399415550850103,
+                    -0.3496772126322256,
+                    -0.9367086565759101
+                ]
+            ],
+            "translation_vector": [
+                0.5627453851334486,
+                -0.03835380668303237,
+                0.6411309010682524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131268233707,
+                    -0.9368379208101084,
+                    0.3494782073181399
+                ],
+                [
+                    -0.9997487557458458,
+                    0.007156164768854813,
+                    -0.02124181466907022
+                ],
+                [
+                    0.017399213854112718,
+                    -0.34969057670745834,
+                    -0.9367036713493041
+                ]
+            ],
+            "translation_vector": [
+                0.562746177159604,
+                -0.03835380666982669,
+                0.6411322587630502
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131268233707,
+                    -0.9368379208101084,
+                    0.3494782073181399
+                ],
+                [
+                    -0.9997487557458458,
+                    0.007156164768854813,
+                    -0.02124181466907022
+                ],
+                [
+                    0.017399213854112718,
+                    -0.34969057670745834,
+                    -0.9367036713493041
+                ]
+            ],
+            "translation_vector": [
+                0.562746177159604,
+                -0.03835380666982669,
+                0.6411322587630502
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131420488612715,
+                    -0.9368348595297811,
+                    0.34948640735340475
+                ],
+                [
+                    -0.9997487557481274,
+                    0.007156164741526985,
+                    -0.02124181457087909
+                ],
+                [
+                    0.01739909006372171,
+                    -0.34969877791609183,
+                    -0.9367006119294187
+                ]
+            ],
+            "translation_vector": [
+                0.562747535397088,
+                -0.03835380665660045,
+                0.6411321973952006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131284749826263,
+                    -0.9368375888674728,
+                    0.3494790964797473
+                ],
+                [
+                    -0.9997487557459064,
+                    0.007156164770073996,
+                    -0.02124181466580407
+                ],
+                [
+                    0.017399200436575876,
+                    -0.3496914659964764,
+                    -0.9367033396083331
+                ]
+            ],
+            "translation_vector": [
+                0.562745918364459,
+                -0.038353806670777285,
+                0.6411326685959187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131284749826263,
+                    -0.9368375888674728,
+                    0.3494790964797473
+                ],
+                [
+                    -0.9997487557459064,
+                    0.007156164770073996,
+                    -0.02124181466580407
+                ],
+                [
+                    0.017399200436575876,
+                    -0.3496914659964764,
+                    -0.9367033396083331
+                ]
+            ],
+            "translation_vector": [
+                0.562745918364459,
+                -0.038353806670777285,
+                0.6411326685959187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131374166967267,
+                    -0.9368357908305143,
+                    0.34948391276726687
+                ],
+                [
+                    -0.9997487557475265,
+                    0.007156164747749017,
+                    -0.021241814597060135
+                ],
+                [
+                    0.017399127720261445,
+                    -0.3496962829729085,
+                    -0.9367015426642075
+                ]
+            ],
+            "translation_vector": [
+                0.562747325235755,
+                -0.03835380665943172,
+                0.6411320078197051
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131082945205532,
+                    -0.9368416458858096,
+                    0.3494682289261265
+                ],
+                [
+                    -0.9997487557434422,
+                    0.007156164793745169,
+                    -0.021241814773793406
+                ],
+                [
+                    0.017399364477908436,
+                    -0.3496805968872346,
+                    -0.9367073941612466
+                ]
+            ],
+            "translation_vector": [
+                0.5627453365046045,
+                -0.03835380668115174,
+                0.6411315004717858
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131082945205532,
+                    -0.9368416458858096,
+                    0.3494682289261265
+                ],
+                [
+                    -0.9997487557434422,
+                    0.007156164793745169,
+                    -0.021241814773793406
+                ],
+                [
+                    0.017399364477908436,
+                    -0.3496805968872346,
+                    -0.9367073941612466
+                ]
+            ],
+            "translation_vector": [
+                0.5627453365046045,
+                -0.03835380668115174,
+                0.6411315004717858
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314237150421,
+                    -0.9368347949838249,
+                    0.34948658024508117
+                ],
+                [
+                    -0.9997487557477088,
+                    0.007156164751406966,
+                    -0.021241814587261768
+                ],
+                [
+                    0.017399087467302024,
+                    -0.34969895083295055,
+                    -0.9367005474225152
+                ]
+            ],
+            "translation_vector": [
+                0.5627465488498675,
+                -0.038353806662283524,
+                0.6411332373208424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131251717574568,
+                    -0.9368382527518999,
+                    0.3494773181562184
+                ],
+                [
+                    -0.9997487557457849,
+                    0.007156164767635324,
+                    -0.021241814672336393
+                ],
+                [
+                    0.017399227271634003,
+                    -0.34968968741812584,
+                    -0.9367040030894308
+                ]
+            ],
+            "translation_vector": [
+                0.5627464359543598,
+                -0.03835380666887609,
+                0.6411318489299364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131251717574568,
+                    -0.9368382527518999,
+                    0.3494773181562184
+                ],
+                [
+                    -0.9997487557457849,
+                    0.007156164767635324,
+                    -0.021241814672336393
+                ],
+                [
+                    0.017399227271634003,
+                    -0.34968968741812584,
+                    -0.9367040030894308
+                ]
+            ],
+            "translation_vector": [
+                0.5627464359543598,
+                -0.03835380666887609,
+                0.6411318489299364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131314555581595,
+                    -0.9368369895245718,
+                    0.34948070190994707
+                ],
+                [
+                    -0.9997487557464463,
+                    0.00715616476263239,
+                    -0.021241814642889528
+                ],
+                [
+                    0.017399176197855516,
+                    -0.3496930716563142,
+                    -0.9367027406297094
+                ]
+            ],
+            "translation_vector": [
+                0.5627463873220917,
+                -0.038353806666995435,
+                0.6411324483372657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131529647532901,
+                    -0.936832664953224,
+                    0.3494922856751799
+                ],
+                [
+                    -0.9997487557493896,
+                    0.007156164730302269,
+                    -0.021241814515251152
+                ],
+                [
+                    0.017399001332503276,
+                    -0.349704657079361,
+                    -0.9366984186864193
+                ]
+            ],
+            "translation_vector": [
+                0.5627476969227927,
+                -0.03835380665188855,
+                0.6411329863824271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131529647532901,
+                    -0.936832664953224,
+                    0.3494922856751799
+                ],
+                [
+                    -0.9997487557493896,
+                    0.007156164730302269,
+                    -0.021241814515251152
+                ],
+                [
+                    0.017399001332503276,
+                    -0.349704657079361,
+                    -0.9366984186864193
+                ]
+            ],
+            "translation_vector": [
+                0.5627476969227927,
+                -0.03835380665188855,
+                0.6411329863824271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131453520603812,
+                    -0.9368341956280957,
+                    0.3494881856704952
+                ],
+                [
+                    -0.9997487557482487,
+                    0.007156164743965642,
+                    -0.021241814564346928
+                ],
+                [
+                    0.017399063228343305,
+                    -0.3497005564879998,
+                    -0.9366999484310651
+                ]
+            ],
+            "translation_vector": [
+                0.5627470178065255,
+                -0.03835380665850166,
+                0.64113301706327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413148332612377,
+                    -0.9368335962696145,
+                    0.349489791094883
+                ],
+                [
+                    -0.9997487557487889,
+                    0.007156164736524247,
+                    -0.021241814541431876
+                ],
+                [
+                    0.017399038989333232,
+                    -0.34970216214202227,
+                    -0.9366993494368633
+                ]
+            ],
+            "translation_vector": [
+                0.5627474867626494,
+                -0.03835380665471978,
+                0.6411327968056127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131529647532901,
+                    -0.936832664953224,
+                    0.3494922856751799
+                ],
+                [
+                    -0.9997487557493896,
+                    0.007156164730302269,
+                    -0.021241814515251152
+                ],
+                [
+                    0.017399001332503276,
+                    -0.349704657079361,
+                    -0.9366984186864193
+                ]
+            ],
+            "translation_vector": [
+                0.5627476969227927,
+                -0.03835380665188855,
+                0.6411330626763724
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344817565405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131575968841409,
+                    -0.9368317336301896,
+                    0.3494947802529979
+                ],
+                [
+                    -0.9997487557499907,
+                    0.007156164724080165,
+                    -0.021241814489070227
+                ],
+                [
+                    0.017398963675549745,
+                    -0.34970715201421926,
+                    -0.9366974879293323
+                ]
+            ],
+            "translation_vector": [
+                0.562747907082431,
+                -0.0383538066490573,
+                0.6411331759598011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131575968841409,
+                    -0.9368317336301896,
+                    0.3494947802529979
+                ],
+                [
+                    -0.9997487557499907,
+                    0.007156164724080165,
+                    -0.021241814489070227
+                ],
+                [
+                    0.017398963675549745,
+                    -0.34970715201421926,
+                    -0.9366974879293323
+                ]
+            ],
+            "translation_vector": [
+                0.562747907082431,
+                -0.0383538066490573,
+                0.6411331759598011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411334725106832
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338823447484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411333962167379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411341089129636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411337297568579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339193346309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411340719225215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131767705829825,
+                    -0.9368278791728861,
+                    0.3495051043202958
+                ],
+                [
+                    -0.9997487557515559,
+                    0.007156164718952667,
+                    -0.02124181441711215
+                ],
+                [
+                    0.01739880785353633,
+                    -0.3497174775600264,
+                    -0.9366936358139347
+                ]
+            ],
+            "translation_vector": [
+                0.5627467746161047,
+                -0.038353806649098446,
+                0.6411360141219995
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132032339891434,
+                    -0.9368225583596845,
+                    0.3495193554159205
+                ],
+                [
+                    -0.9997487557546815,
+                    0.00715616469028352,
+                    -0.021241814279675284
+                ],
+                [
+                    0.017398592727888518,
+                    -0.3497317306956031,
+                    -0.9366883182338446
+                ]
+            ],
+            "translation_vector": [
+                0.5627473077966678,
+                -0.038353806636843485,
+                0.6411377816974666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132032339891434,
+                    -0.9368225583596845,
+                    0.3495193554159205
+                ],
+                [
+                    -0.9997487557546815,
+                    0.00715616469028352,
+                    -0.021241814279675284
+                ],
+                [
+                    0.017398592727888518,
+                    -0.3497317306956031,
+                    -0.9366883182338446
+                ]
+            ],
+            "translation_vector": [
+                0.5627473077966678,
+                -0.038353806636843485,
+                0.6411377816974666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131565905763819,
+                    -0.9368319364930077,
+                    0.349494236879256
+                ],
+                [
+                    -0.9997487557490924,
+                    0.007156164742620897,
+                    -0.0212418145251019
+                ],
+                [
+                    0.01739897190047183,
+                    -0.3497066085634341,
+                    -0.9366976906685897
+                ]
+            ],
+            "translation_vector": [
+                0.5627461927804805,
+                -0.038353806659472856,
+                0.6411348459737132
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131734674323378,
+                    -0.9368285431066963,
+                    0.3495033260151898
+                ],
+                [
+                    -0.999748755751435,
+                    0.007156164716513768,
+                    -0.02124181442364439
+                ],
+                [
+                    0.017398834689511422,
+                    -0.34971569900011024,
+                    -0.9366942993444084
+                ]
+            ],
+            "translation_vector": [
+                0.562747292212357,
+                -0.038353806647197244,
+                0.6411352707483371
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131734674323378,
+                    -0.9368285431066963,
+                    0.3495033260151898
+                ],
+                [
+                    -0.999748755751435,
+                    0.007156164716513768,
+                    -0.02124181442364439
+                ],
+                [
+                    0.017398834689511422,
+                    -0.34971569900011024,
+                    -0.9366942993444084
+                ]
+            ],
+            "translation_vector": [
+                0.562747292212357,
+                -0.038353806647197244,
+                0.6411352707483371
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132105238433874,
+                    -0.936821092101125,
+                    0.3495232824805616
+                ],
+                [
+                    -0.9997487557562413,
+                    0.007156164666741813,
+                    -0.021241814214196145
+                ],
+                [
+                    0.017398533426061284,
+                    -0.3497356583217089,
+                    -0.9366868528664765
+                ]
+            ],
+            "translation_vector": [
+                0.5627489734574519,
+                -0.038353806624547286,
+                0.6411367111088712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132058918271014,
+                    -0.9368220235000765,
+                    0.3495207879310664
+                ],
+                [
+                    -0.9997487557556404,
+                    0.007156164672962907,
+                    -0.02124181424037732
+                ],
+                [
+                    0.01739857108442443,
+                    -0.3497331634151905,
+                    -0.9366877836994698
+                ]
+            ],
+            "translation_vector": [
+                0.5627487633035821,
+                -0.03835380662737852,
+                0.6411365215251024
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132058918271014,
+                    -0.9368220235000765,
+                    0.3495207879310664
+                ],
+                [
+                    -0.9997487557556404,
+                    0.007156164672962907,
+                    -0.02124181424037732
+                ],
+                [
+                    0.01739857108442443,
+                    -0.3497331634151905,
+                    -0.9366877836994698
+                ]
+            ],
+            "translation_vector": [
+                0.5627487633035821,
+                -0.03835380662737852,
+                0.6411365215251024
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131797510912052,
+                    -0.9368272797854038,
+                    0.34950670973386405
+                ],
+                [
+                    -0.9997487557520961,
+                    0.00715616471151155,
+                    -0.02124181439419708
+                ],
+                [
+                    0.017398783613988052,
+                    -0.3497190832032228,
+                    -0.9366930367907362
+                ]
+            ],
+            "translation_vector": [
+                0.5627472435716493,
+                -0.038353806645316575,
+                0.641135793868369
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131721384936093,
+                    -0.9368288105234198,
+                    0.34950260975273656
+                ],
+                [
+                    -0.9997487557509555,
+                    0.007156164725174309,
+                    -0.021241814443293185
+                ],
+                [
+                    0.017398845511000557,
+                    -0.34971498263543305,
+                    -0.9366945665985171
+                ]
+            ],
+            "translation_vector": [
+                0.5627465644585558,
+                -0.03835380665192971,
+                0.6411358245423091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131721384936093,
+                    -0.9368288105234198,
+                    0.34950260975273656
+                ],
+                [
+                    -0.9997487557509555,
+                    0.007156164725174309,
+                    -0.021241814443293185
+                ],
+                [
+                    0.017398845511000557,
+                    -0.34971498263543305,
+                    -0.9366945665985171
+                ]
+            ],
+            "translation_vector": [
+                0.5627465644585558,
+                -0.03835380665192971,
+                0.6411358245423091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413165854812405,
+                    -0.9368300738298991,
+                    0.3494992260285356
+                ],
+                [
+                    -0.9997487557502938,
+                    0.0071561647301770425,
+                    -0.02124181447274
+                ],
+                [
+                    0.017398896586248352,
+                    -0.34971159842679045,
+                    -0.9366958291373784
+                ]
+            ],
+            "translation_vector": [
+                0.5627466130984626,
+                -0.038353806653810336,
+                0.6411352251298965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130450939577833,
+                    -0.9368543509135515,
+                    0.3494341934192943
+                ],
+                [
+                    -0.9997487557350915,
+                    0.007156164882089092,
+                    -0.021241815137055715
+                ],
+                [
+                    0.01739987822890357,
+                    -0.3496465565088964,
+                    -0.9367200914676116
+                ]
+            ],
+            "translation_vector": [
+                0.5627421353565887,
+                -0.03835380672174011,
+                0.6411292563521603
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130450939577833,
+                    -0.9368543509135515,
+                    0.3494341934192943
+                ],
+                [
+                    -0.9997487557350915,
+                    0.007156164882089092,
+                    -0.021241815137055715
+                ],
+                [
+                    0.01739987822890357,
+                    -0.3496465565088964,
+                    -0.9367200914676116
+                ]
+            ],
+            "translation_vector": [
+                0.5627421353565887,
+                -0.03835380672174011,
+                0.6411292563521603
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01412989504802852,
+                    -0.9368655244149171,
+                    0.34940425759955235
+                ],
+                [
+                    -0.9997487557278817,
+                    0.0071561649567781545,
+                    -0.021241815451220742
+                ],
+                [
+                    0.017400330068249634,
+                    -0.349616616404132,
+                    -0.9367312581779484
+                ]
+            ],
+            "translation_vector": [
+                0.5627396132604703,
+                -0.03835380675571554,
+                0.6411269816237375
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014128723603007072,
+                    -0.9368890667628593,
+                    0.349341173853826
+                ],
+                [
+                    -0.9997487557123821,
+                    0.007156165121076712,
+                    -0.02124181612537035
+                ],
+                [
+                    0.017401282162357635,
+                    -0.3495535236283267,
+                    -0.9367547862157564
+                ]
+            ],
+            "translation_vector": [
+                0.5627336308981978,
+                -0.038353806831230616,
+                0.6411228729646554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014128723603007072,
+                    -0.9368890667628593,
+                    0.349341173853826
+                ],
+                [
+                    -0.9997487557123821,
+                    0.007156165121076712,
+                    -0.02124181612537035
+                ],
+                [
+                    0.017401282162357635,
+                    -0.3495535236283267,
+                    -0.9367547862157564
+                ]
+            ],
+            "translation_vector": [
+                0.5627336308981978,
+                -0.038353806831230616,
+                0.6411228729646554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131264623391588,
+                    -0.9368379945745947,
+                    0.34947800972535664
+                ],
+                [
+                    -0.9997487557441097,
+                    0.007156164807157018,
+                    -0.02124181473786635
+                ],
+                [
+                    0.017399216886075784,
+                    -0.3496903790879948,
+                    -0.9367037450683362
+                ]
+            ],
+            "translation_vector": [
+                0.5627424897445308,
+                -0.03835380669160841,
+                0.6411360086110475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132114917413242,
+                    -0.9368208984427382,
+                    0.3495238011479364
+                ],
+                [
+                    -0.9997487557549846,
+                    0.007156164696380683,
+                    -0.021241814263345146
+                ],
+                [
+                    0.017398525636421042,
+                    -0.3497361770646259,
+                    -0.9366866593252514
+                ]
+            ],
+            "translation_vector": [
+                0.5627460137908394,
+                -0.03835380664159659,
+                0.6411398308647176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132114917413242,
+                    -0.9368208984427382,
+                    0.3495238011479364
+                ],
+                [
+                    -0.9997487557549846,
+                    0.007156164696380683,
+                    -0.021241814263345146
+                ],
+                [
+                    0.017398525636421042,
+                    -0.3497361770646259,
+                    -0.9366866593252514
+                ]
+            ],
+            "translation_vector": [
+                0.5627460137908394,
+                -0.03835380664159659,
+                0.6411398308647176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131509521328986,
+                    -0.93683307067565,
+                    0.3494911989264983
+                ],
+                [
+                    -0.9997487557475929,
+                    0.007156164767383947,
+                    -0.021241814587314042
+                ],
+                [
+                    0.017399017782287578,
+                    -0.34970357017659204,
+                    -0.9366988241617246
+                ]
+            ],
+            "translation_vector": [
+                0.5627442683105252,
+                -0.03835380667271965,
+                0.6411363264026022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131463199876284,
+                    -0.9368340019891461,
+                    0.34948870434512175
+                ],
+                [
+                    -0.9997487557469924,
+                    0.007156164773606027,
+                    -0.021241814613494985
+                ],
+                [
+                    0.01739905543906418,
+                    -0.349701075238173,
+                    -0.9366997549092744
+                ]
+            ],
+            "translation_vector": [
+                0.5627440581501619,
+                -0.03835380667555092,
+                0.6411361368260317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131463199876284,
+                    -0.9368340019891461,
+                    0.34948870434512175
+                ],
+                [
+                    -0.9997487557469924,
+                    0.007156164773606027,
+                    -0.021241814613494985
+                ],
+                [
+                    0.01739905543906418,
+                    -0.349701075238173,
+                    -0.9366997549092744
+                ]
+            ],
+            "translation_vector": [
+                0.5627440581501619,
+                -0.03835380667555092,
+                0.6411361368260317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131291202725734,
+                    -0.9368374597782272,
+                    0.34947944226409483
+                ],
+                [
+                    -0.9997487557450686,
+                    0.007156164789834562,
+                    -0.021241814698569374
+                ],
+                [
+                    0.017399195243786216,
+                    -0.34969181183118925,
+                    -0.936703210597193
+                ]
+            ],
+            "translation_vector": [
+                0.5627439452614486,
+                -0.03835380668214345,
+                0.6411347484384247
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131449910320169,
+                    -0.9368342693946872,
+                    0.349487988078497
+                ],
+                [
+                    -0.9997487557465128,
+                    0.007156164782267045,
+                    -0.02124181463314346
+                ],
+                [
+                    0.01739906626034551,
+                    -0.34970035886932194,
+                    -0.9367000221522023
+                ]
+            ],
+            "translation_vector": [
+                0.5627433303916123,
+                -0.03835380668028339,
+                0.6411367669110898
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131449910320169,
+                    -0.9368342693946872,
+                    0.349487988078497
+                ],
+                [
+                    -0.9997487557465128,
+                    0.007156164782267045,
+                    -0.02124181463314346
+                ],
+                [
+                    0.01739906626034551,
+                    -0.34970035886932194,
+                    -0.9367000221522023
+                ]
+            ],
+            "translation_vector": [
+                0.5627433303916123,
+                -0.03835380668028339,
+                0.6411367669110898
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131400362305797,
+                    -0.9368352652453865,
+                    0.3494853206021785
+                ],
+                [
+                    -0.9997487557463309,
+                    0.00715616477860914,
+                    -0.021241814642941663
+                ],
+                [
+                    0.01739910651337921,
+                    -0.3496976910107767,
+                    -0.936701017397904
+                ]
+            ],
+            "translation_vector": [
+                0.5627441067875512,
+                -0.038353806677431546,
+                0.6411355374191178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131307718827634,
+                    -0.9368371278344192,
+                    0.34948033142526475
+                ],
+                [
+                    -0.9997487557451296,
+                    0.007156164791054005,
+                    -0.021241814695303316
+                ],
+                [
+                    0.017399181826227468,
+                    -0.34969270111976936,
+                    -0.93670287885505
+                ]
+            ],
+            "translation_vector": [
+                0.5627436864639404,
+                -0.03835380668309408,
+                0.6411351582691742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131307718827634,
+                    -0.9368371278344192,
+                    0.34948033142526475
+                ],
+                [
+                    -0.9997487557451296,
+                    0.007156164791054005,
+                    -0.021241814695303316
+                ],
+                [
+                    0.017399181826227468,
+                    -0.34969270111976936,
+                    -0.93670287885505
+                ]
+            ],
+            "translation_vector": [
+                0.5627436864639404,
+                -0.03835380668309408,
+                0.6411351582691742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131522810847985,
+                    -0.9368328032676537,
+                    0.3494919151922068
+                ],
+                [
+                    -0.9997487557480725,
+                    0.007156164758722949,
+                    -0.021241814567665458
+                ],
+                [
+                    0.01739900696096069,
+                    -0.34970428654452645,
+                    -0.9366985569163415
+                ]
+            ],
+            "translation_vector": [
+                0.5627449960675888,
+                -0.03835380666798718,
+                0.6411357726104292
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131569132171498,
+                    -0.9368318719456059,
+                    0.34949440977039303
+                ],
+                [
+                    -0.9997487557486736,
+                    0.0071561647525009275,
+                    -0.02124181454148452
+                ],
+                [
+                    0.01739896930402523,
+                    -0.34970678147975326,
+                    -0.936697626160241
+                ]
+            ],
+            "translation_vector": [
+                0.5627452062273022,
+                -0.03835380666515593,
+                0.6411359621877201
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131569132171498,
+                    -0.9368318719456059,
+                    0.34949440977039303
+                ],
+                [
+                    -0.9997487557486736,
+                    0.0071561647525009275,
+                    -0.02124181454148452
+                ],
+                [
+                    0.01739896930402523,
+                    -0.34970678147975326,
+                    -0.936697626160241
+                ]
+            ],
+            "translation_vector": [
+                0.5627452062273022,
+                -0.03835380666515593,
+                0.6411359621877201
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131615453394785,
+                    -0.9368309406169134,
+                    0.3494969043461007
+                ],
+                [
+                    -0.9997487557492742,
+                    0.007156164746278787,
+                    -0.021241814515303867
+                ],
+                [
+                    0.017398931646966896,
+                    -0.3497092764124998,
+                    -0.9366966953974967
+                ]
+            ],
+            "translation_vector": [
+                0.5627454163865107,
+                -0.03835380666232469,
+                0.64113599917768
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131645258689166,
+                    -0.9368303412434873,
+                    0.34949850976491276
+                ],
+                [
+                    -0.9997487557498146,
+                    0.007156164738837412,
+                    -0.021241814492388704
+                ],
+                [
+                    0.017398907407679413,
+                    -0.3497108820609432,
+                    -0.936696096388352
+                ]
+            ],
+            "translation_vector": [
+                0.5627458853437732,
+                -0.0383538066585428,
+                0.6411359315113897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131645258689166,
+                    -0.9368303412434873,
+                    0.34949850976491276
+                ],
+                [
+                    -0.9997487557498146,
+                    0.007156164738837412,
+                    -0.021241814492388704
+                ],
+                [
+                    0.017398907407679413,
+                    -0.3497108820609432,
+                    -0.936696096388352
+                ]
+            ],
+            "translation_vector": [
+                0.5627458853437732,
+                -0.0383538066585428,
+                0.6411359315113897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131645258689166,
+                    -0.9368303412434873,
+                    0.34949850976491276
+                ],
+                [
+                    -0.9997487557498146,
+                    0.007156164738837412,
+                    -0.021241814492388704
+                ],
+                [
+                    0.017398907407679413,
+                    -0.3497108820609432,
+                    -0.936696096388352
+                ]
+            ],
+            "translation_vector": [
+                0.5627458853437732,
+                -0.0383538066585428,
+                0.6411358552174445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131645258689166,
+                    -0.9368303412434873,
+                    0.34949850976491276
+                ],
+                [
+                    -0.9997487557498146,
+                    0.007156164738837412,
+                    -0.021241814492388704
+                ],
+                [
+                    0.017398907407679413,
+                    -0.3497108820609432,
+                    -0.936696096388352
+                ]
+            ],
+            "translation_vector": [
+                0.5627458853437732,
+                -0.0383538066585428,
+                0.6411358552174445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131645258689166,
+                    -0.9368303412434873,
+                    0.34949850976491276
+                ],
+                [
+                    -0.9997487557498146,
+                    0.007156164738837412,
+                    -0.021241814492388704
+                ],
+                [
+                    0.017398907407679413,
+                    -0.3497108820609432,
+                    -0.936696096388352
+                ]
+            ],
+            "translation_vector": [
+                0.5627458853437732,
+                -0.0383538066585428,
+                0.6411358552174445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131628742847974,
+                    -0.9368306732045534,
+                    0.34949762061018125
+                ],
+                [
+                    -0.9997487557497537,
+                    0.00715616473761813,
+                    -0.02124181449565503
+                ],
+                [
+                    0.017398920825558585,
+                    -0.34970999277880516,
+                    -0.936696428147751
+                ]
+            ],
+            "translation_vector": [
+                0.5627461441419432,
+                -0.038353806657592214,
+                0.6411355216785528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413280970750773,
+                    -0.9368069266404245,
+                    0.34956121908514814
+                ],
+                [
+                    -0.9997487557639972,
+                    0.007156164603068473,
+                    -0.02124181387062834
+                ],
+                [
+                    0.01739796074578855,
+                    -0.34977360035699867,
+                    -0.9366726960124288
+                ]
+            ],
+            "translation_vector": [
+                0.5627491660367232,
+                -0.038353806599128196,
+                0.6411426746901552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413280970750773,
+                    -0.9368069266404245,
+                    0.34956121908514814
+                ],
+                [
+                    -0.9997487557639972,
+                    0.007156164603068473,
+                    -0.02124181387062834
+                ],
+                [
+                    0.01739796074578855,
+                    -0.34977360035699867,
+                    -0.9366726960124288
+                ]
+            ],
+            "translation_vector": [
+                0.5627491660367232,
+                -0.038353806599128196,
+                0.6411426746901552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413460960423702,
+                    -0.9367707221134398,
+                    0.3496581573514355
+                ],
+                [
+                    -0.9997487557882658,
+                    0.0071561643407746095,
+                    -0.02124181281677874
+                ],
+                [
+                    0.017396497094272885,
+                    -0.3498705524947665,
+                    -0.936636513481007
+                ]
+            ],
+            "translation_vector": [
+                0.562759334462113,
+                -0.03835380647734514,
+                0.6411479893870246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413028216089215,
+                    -0.9368577436289444,
+                    0.3494251040330926
+                ],
+                [
+                    -0.9997487557327491,
+                    0.007156164908203325,
+                    -0.021241815238511496
+                ],
+                [
+                    0.017400015427407753,
+                    -0.3496374658218003,
+                    -0.9367234821209706
+                ]
+            ],
+            "translation_vector": [
+                0.5627410358743847,
+                -0.03835380673401583,
+                0.6411289079286304
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413028216089215,
+                    -0.9368577436289444,
+                    0.3494251040330926
+                ],
+                [
+                    -0.9997487557327491,
+                    0.007156164908203325,
+                    -0.021241815238511496
+                ],
+                [
+                    0.017400015427407753,
+                    -0.3496374658218003,
+                    -0.9367234821209706
+                ]
+            ],
+            "translation_vector": [
+                0.5627410358743847,
+                -0.03835380673401583,
+                0.6411289079286304
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132045629085245,
+                    -0.9368222909301542,
+                    0.34952007167359556
+                ],
+                [
+                    -0.999748755755161,
+                    0.007156164681623052,
+                    -0.02124181426002637
+                ],
+                [
+                    0.017398581906161694,
+                    -0.34973244705549883,
+                    -0.936688050966931
+                ]
+            ],
+            "translation_vector": [
+                0.5627480355507957,
+                -0.038353806632111,
+                0.6411372279058403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131440231041542,
+                    -0.9368344630332404,
+                    0.34948746940372244
+                ],
+                [
+                    -0.9997487557477694,
+                    0.007156164752626296,
+                    -0.021241814583995718
+                ],
+                [
+                    0.017399074049617744,
+                    -0.3496998401190005,
+                    -0.9367002156735966
+                ]
+            ],
+            "translation_vector": [
+                0.5627462900537936,
+                -0.03835380666323413,
+                0.6411337234480086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131440231041542,
+                    -0.9368344630332404,
+                    0.34948746940372244
+                ],
+                [
+                    -0.9997487557477694,
+                    0.007156164752626296,
+                    -0.021241814583995718
+                ],
+                [
+                    0.017399074049617744,
+                    -0.3496998401190005,
+                    -0.9367002156735966
+                ]
+            ],
+            "translation_vector": [
+                0.5627462900537936,
+                -0.03835380666323413,
+                0.6411337234480086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131827315952581,
+                    -0.9368266803951696,
+                    0.3495083151464059
+                ],
+                [
+                    -0.9997487557526364,
+                    0.0071561647040700995,
+                    -0.021241814371282367
+                ],
+                [
+                    0.017398759374389006,
+                    -0.3497206888453921,
+                    -0.936692437764786
+                ]
+            ],
+            "translation_vector": [
+                0.56274771252666,
+                -0.03835380664153473,
+                0.6411354973207082
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131827315952581,
+                    -0.9368266803951696,
+                    0.3495083151464059
+                ],
+                [
+                    -0.9997487557526364,
+                    0.0071561647040700995,
+                    -0.021241814371282367
+                ],
+                [
+                    0.017398759374389006,
+                    -0.3497206888453921,
+                    -0.936692437764786
+                ]
+            ],
+            "translation_vector": [
+                0.56274771252666,
+                -0.03835380664153473,
+                0.6411354973207082
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131873636617115,
+                    -0.9368257490294398,
+                    0.34951080970829596
+                ],
+                [
+                    -0.9997487557532373,
+                    0.007156164697848902,
+                    -0.02124181434510131
+                ],
+                [
+                    0.01739872171664265,
+                    -0.34972318376431266,
+                    -0.9366915069650096
+                ]
+            ],
+            "translation_vector": [
+                0.5627479226830543,
+                -0.0383538066387035,
+                0.6411357631956239
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131162299921932,
+                    -0.9368400507549454,
+                    0.3494725018560475
+                ],
+                [
+                    -0.9997487557441643,
+                    0.0071561647899610285,
+                    -0.02124181474108037
+                ],
+                [
+                    0.01739929998731893,
+                    -0.3496848704290346,
+                    -0.9367057999996481
+                ]
+            ],
+            "translation_vector": [
+                0.5627450290795123,
+                -0.038353806680221675,
+                0.6411325097080561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131162299921932,
+                    -0.9368400507549454,
+                    0.3494725018560475
+                ],
+                [
+                    -0.9997487557441643,
+                    0.0071561647899610285,
+                    -0.02124181474108037
+                ],
+                [
+                    0.01739929998731893,
+                    -0.3496848704290346,
+                    -0.9367057999996481
+                ]
+            ],
+            "translation_vector": [
+                0.5627450290795123,
+                -0.038353806680221675,
+                0.6411325097080561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130993526847008,
+                    -0.936843443842114,
+                    0.3494634126085202
+                ],
+                [
+                    -0.9997487557418218,
+                    0.0071561648160709534,
+                    -0.021241814842537322
+                ],
+                [
+                    0.017399437192725895,
+                    -0.3496757798806972,
+                    -0.9367091910247295
+                ]
+            ],
+            "translation_vector": [
+                0.5627439296252308,
+                -0.038353806692497334,
+                0.6411322375468379
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130530296637564,
+                    -0.9368527559379676,
+                    0.34943846640713677
+                ],
+                [
+                    -0.9997487557358138,
+                    0.007156164878303504,
+                    -0.02124181510434302
+                ],
+                [
+                    0.017399813741197385,
+                    -0.34965083010865317,
+                    -0.9367184974612714
+                ]
+            ],
+            "translation_vector": [
+                0.562741827942645,
+                -0.03835380672081002,
+                0.6411302655747169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130530296637564,
+                    -0.9368527559379676,
+                    0.34943846640713677
+                ],
+                [
+                    -0.9997487557358138,
+                    0.007156164878303504,
+                    -0.02124181510434302
+                ],
+                [
+                    0.017399813741197385,
+                    -0.34965083010865317,
+                    -0.9367184974612714
+                ]
+            ],
+            "translation_vector": [
+                0.562741827942645,
+                -0.03835380672081002,
+                0.6411302655747169
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130669266753729,
+                    -0.9368499623789789,
+                    0.3494459502935753
+                ],
+                [
+                    -0.9997487557376161,
+                    0.007156164859633433,
+                    -0.02124181502580135
+                ],
+                [
+                    0.0173997007779511,
+                    -0.34965831506630574,
+                    -0.9367157056000663
+                ]
+            ],
+            "translation_vector": [
+                0.5627424584527216,
+                -0.0383538067123162,
+                0.6411308342722926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413043442281502,
+                    -0.9368546828135571,
+                    0.34943330424178554
+                ],
+                [
+                    -0.999748755735031,
+                    0.007156164880869965,
+                    -0.021241815140321866
+                ],
+                [
+                    0.017399891645648983,
+                    -0.34964566720396756,
+                    -0.9367204231659585
+                ]
+            ],
+            "translation_vector": [
+                0.5627423941484947,
+                -0.03835380672078952,
+                0.6411287702289377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130821525921669,
+                    -0.9368469013810748,
+                    0.34945415043419076
+                ],
+                [
+                    -0.9997487557398983,
+                    0.007156164832301662,
+                    -0.021241814927611378
+                ],
+                [
+                    0.017399576992803836,
+                    -0.3496665163803541,
+                    -0.9367126464625638
+                ]
+            ],
+            "translation_vector": [
+                0.5627438167136141,
+                -0.038353806699089936,
+                0.6411308491764987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130821525921669,
+                    -0.9368469013810748,
+                    0.34945415043419076
+                ],
+                [
+                    -0.9997487557398983,
+                    0.007156164832301662,
+                    -0.021241814927611378
+                ],
+                [
+                    0.017399576992803836,
+                    -0.3496665163803541,
+                    -0.9367126464625638
+                ]
+            ],
+            "translation_vector": [
+                0.5627438167136141,
+                -0.038353806699089936,
+                0.6411308491764987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131099461467933,
+                    -0.9368413139526472,
+                    0.34946911809126746
+                ],
+                [
+                    -0.9997487557435029,
+                    0.007156164794964344,
+                    -0.021241814770527143
+                ],
+                [
+                    0.017399351060547394,
+                    -0.3496814861797882,
+                    -0.9367070624297474
+                ]
+            ],
+            "translation_vector": [
+                0.5627450777101792,
+                -0.03835380668210232,
+                0.6411319103038561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131747963702496,
+                    -0.9368282756894252,
+                    0.34950404227743825
+                ],
+                [
+                    -0.9997487557519141,
+                    0.0071561647078533215,
+                    -0.021241814403995418
+                ],
+                [
+                    0.017398823868011837,
+                    -0.34971641536458226,
+                    -0.9366940320897519
+                ]
+            ],
+            "translation_vector": [
+                0.5627480199648172,
+                -0.03835380664246476,
+                0.6411345643652535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132303807115824,
+                    -0.9368170989987104,
+                    0.34953397690746074
+                ],
+                [
+                    -0.999748755759124,
+                    0.007156164633197543,
+                    -0.0212418140898228
+                ],
+                [
+                    0.017398371969451584,
+                    -0.34974635427890377,
+                    -0.9366828621905223
+                ]
+            ],
+            "translation_vector": [
+                0.5627505418186025,
+                -0.03835380660848989,
+                0.6411368393623335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132303807115824,
+                    -0.9368170989987104,
+                    0.34953397690746074
+                ],
+                [
+                    -0.999748755759124,
+                    0.007156164633197543,
+                    -0.0212418140898228
+                ],
+                [
+                    0.017398371969451584,
+                    -0.34974635427890377,
+                    -0.9366828621905223
+                ]
+            ],
+            "translation_vector": [
+                0.5627505418186025,
+                -0.03835380660848989,
+                0.6411368393623335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131886925909627,
+                    -0.9368254816064453,
+                    0.3495115259684093
+                ],
+                [
+                    -0.9997487557537166,
+                    0.007156164689188336,
+                    -0.02124181432545257
+                ],
+                [
+                    0.017398710895037167,
+                    -0.34972390012664833,
+                    -0.9366912397046306
+                ]
+            ],
+            "translation_vector": [
+                0.5627486504350795,
+                -0.03835380663397103,
+                0.6411351331069679
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131794284538533,
+                    -0.9368273443350765,
+                    0.3495065368435741
+                ],
+                [
+                    -0.9997487557525152,
+                    0.007156164701631633,
+                    -0.021241814377814458
+                ],
+                [
+                    0.017398786210476948,
+                    -0.34971891028775137,
+                    -0.9366931013013551
+                ]
+            ],
+            "translation_vector": [
+                0.5627482301220761,
+                -0.038353806639633524,
+                0.6411347539452652
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411341089129636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336164735899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411342615008542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411333199227927
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131546163450422,
+                    -0.9368323329972228,
+                    0.3494931748318007
+                ],
+                [
+                    -0.9997487557494505,
+                    0.007156164731521385,
+                    -0.02124181451198518
+                ],
+                [
+                    0.017398987914718368,
+                    -0.3497055463633894,
+                    -0.9366980869320849
+                ]
+            ],
+            "translation_vector": [
+                0.562747438126957,
+                -0.038353806652839155,
+                0.6411333199227927
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131886925909627,
+                    -0.9368254816064453,
+                    0.3495115259684093
+                ],
+                [
+                    -0.9997487557537166,
+                    0.007156164689188336,
+                    -0.02124181432545257
+                ],
+                [
+                    0.017398710895037167,
+                    -0.34972390012664833,
+                    -0.9366912397046306
+                ]
+            ],
+            "translation_vector": [
+                0.5627486504350795,
+                -0.03835380663397103,
+                0.6411350568130225
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131638805896218,
+                    -0.9368304703397722,
+                    0.34949816398319106
+                ],
+                [
+                    -0.9997487557506519,
+                    0.007156164719077678,
+                    -0.021241814459623382
+                ],
+                [
+                    0.017398912600600072,
+                    -0.3497105362288579,
+                    -0.9366962254065306
+                ]
+            ],
+            "translation_vector": [
+                0.5627478584453691,
+                -0.03835380664717666,
+                0.6411337753724446
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131638805896218,
+                    -0.9368304703397722,
+                    0.34949816398319106
+                ],
+                [
+                    -0.9997487557506519,
+                    0.007156164719077678,
+                    -0.021241814459623382
+                ],
+                [
+                    0.017398912600600072,
+                    -0.3497105362288579,
+                    -0.9366962254065306
+                ]
+            ],
+            "translation_vector": [
+                0.5627478584453691,
+                -0.03835380664717666,
+                0.6411337753724446
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411337297568579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131499842077374,
+                    -0.9368332643159815,
+                    0.3494906802523875
+                ],
+                [
+                    -0.9997487557488497,
+                    0.0071561647377435785,
+                    -0.021241814538166166
+                ],
+                [
+                    0.017399025571592626,
+                    -0.34970305142693486,
+                    -0.9366990176848967
+                ]
+            ],
+            "translation_vector": [
+                0.5627472279669937,
+                -0.038353806655670425,
+                0.6411332066397242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411341026011552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411341026011552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131331071665323,
+                    -0.9368366575795677,
+                    0.3494815910706705
+                ],
+                [
+                    -0.9997487557465069,
+                    0.007156164763851842,
+                    -0.021241814639623244
+                ],
+                [
+                    0.01739916278027445,
+                    -0.3496939609444478,
+                    -0.9367024088863704
+                ]
+            ],
+            "translation_vector": [
+                0.5627461285267666,
+                -0.03835380666794602,
+                0.6411328581703335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.641133913024302
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.641133913024302
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131549389861237,
+                    -0.9368322684500172,
+                    0.3494933477230114
+                ],
+                [
+                    -0.9997487557490318,
+                    0.007156164741401535,
+                    -0.021241814528367903
+                ],
+                [
+                    0.017398985318275464,
+                    -0.349705719279782,
+                    -0.9366980224239324
+                ]
+            ],
+            "translation_vector": [
+                0.5627464515776923,
+                -0.03835380665852224,
+                0.6411344361405842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411345494242513
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411345494242513
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411347390024233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411347390024233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131595711127218,
+                    -0.9368313371241537,
+                    0.3494958422997741
+                ],
+                [
+                    -0.9997487557496325,
+                    0.007156164735179422,
+                    -0.021241814502187244
+                ],
+                [
+                    0.017398947661269763,
+                    -0.3497082142135845,
+                    -0.9366970916640165
+                ]
+            ],
+            "translation_vector": [
+                0.5627466617371158,
+                -0.038353806655691006,
+                0.6411346257181966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131642032292798,
+                    -0.9368304057916454,
+                    0.34949833687405824
+                ],
+                [
+                    -0.999748755750233,
+                    0.00715616472895731,
+                    -0.021241814476006253
+                ],
+                [
+                    0.017398910004140337,
+                    -0.34971070914490665,
+                    -0.9366961608974572
+                ]
+            ],
+            "translation_vector": [
+                0.5627468718960345,
+                -0.03835380665285973,
+                0.6411348152963686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411333506029909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339193346309
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131840605274058,
+                    -0.9368264129740831,
+                    0.34950903140723105
+                ],
+                [
+                    -0.999748755753116,
+                    0.007156164695409728,
+                    -0.02124181435163362
+                ],
+                [
+                    0.017398748552818945,
+                    -0.34972140520844,
+                    -0.9366921705063145
+                ]
+            ],
+            "translation_vector": [
+                0.5627484402788302,
+                -0.038353806636802275,
+                0.6411349435258368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131638805896218,
+                    -0.9368304703397722,
+                    0.34949816398319106
+                ],
+                [
+                    -0.9997487557506519,
+                    0.007156164719077678,
+                    -0.021241814459623382
+                ],
+                [
+                    0.017398912600600072,
+                    -0.3497105362288579,
+                    -0.9366962254065306
+                ]
+            ],
+            "translation_vector": [
+                0.5627478584453691,
+                -0.03835380664717666,
+                0.6411337753724446
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131638805896218,
+                    -0.9368304703397722,
+                    0.34949816398319106
+                ],
+                [
+                    -0.9997487557506519,
+                    0.007156164719077678,
+                    -0.021241814459623382
+                ],
+                [
+                    0.017398912600600072,
+                    -0.3497105362288579,
+                    -0.9366962254065306
+                ]
+            ],
+            "translation_vector": [
+                0.5627478584453691,
+                -0.03835380664717666,
+                0.6411337753724446
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131453520603812,
+                    -0.9368341956280957,
+                    0.3494881856704952
+                ],
+                [
+                    -0.9997487557482487,
+                    0.007156164743965642,
+                    -0.021241814564346928
+                ],
+                [
+                    0.017399063228343305,
+                    -0.3497005564879998,
+                    -0.9366999484310651
+                ]
+            ],
+            "translation_vector": [
+                0.5627470178065255,
+                -0.03835380665850166,
+                0.64113301706327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411336620882567
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411336620882567
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131592484723576,
+                    -0.9368314016718198,
+                    0.3494956694087353
+                ],
+                [
+                    -0.9997487557500514,
+                    0.0071561647252996385,
+                    -0.02124181448580422
+                ],
+                [
+                    0.017398950257720914,
+                    -0.34970804129736377,
+                    -0.9366971561726296
+                ]
+            ],
+            "translation_vector": [
+                0.5627476482864155,
+                -0.038353806650007906,
+                0.6411335857943115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131685126968352,
+                    -0.9368295390010802,
+                    0.34950065855516815
+                ],
+                [
+                    -0.9997487557512528,
+                    0.007156164712855608,
+                    -0.021241814433442557
+                ],
+                [
+                    0.01739887494335609,
+                    -0.3497130311578716,
+                    -0.9366952946337882
+                ]
+            ],
+            "translation_vector": [
+                0.5627480686038179,
+                -0.03835380664434541,
+                0.6411339649511376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131685126968352,
+                    -0.9368295390010802,
+                    0.34950065855516815
+                ],
+                [
+                    -0.9997487557512528,
+                    0.007156164712855608,
+                    -0.021241814433442557
+                ],
+                [
+                    0.01739887494335609,
+                    -0.3497130311578716,
+                    -0.9366952946337882
+                ]
+            ],
+            "translation_vector": [
+                0.5627480686038179,
+                -0.03835380664434541,
+                0.6411339649511376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131761253073414,
+                    -0.9368280082716064,
+                    0.3495047585394827
+                ],
+                [
+                    -0.999748755752394,
+                    0.007156164699192985,
+                    -0.021241814384346393
+                ],
+                [
+                    0.017398813046502117,
+                    -0.3497171317288503,
+                    -0.9366937648345481
+                ]
+            ],
+            "translation_vector": [
+                0.5627487477159361,
+                -0.038353806637732295,
+                0.6411339342748942
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131761253073414,
+                    -0.9368280082716064,
+                    0.3495047585394827
+                ],
+                [
+                    -0.999748755752394,
+                    0.007156164699192985,
+                    -0.021241814384346393
+                ],
+                [
+                    0.017398813046502117,
+                    -0.3497171317288503,
+                    -0.9366937648345481
+                ]
+            ],
+            "translation_vector": [
+                0.5627487477159361,
+                -0.038353806637732295,
+                0.6411339342748942
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411336927675351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131331071665323,
+                    -0.9368366575795677,
+                    0.3494815910706705
+                ],
+                [
+                    -0.9997487557465069,
+                    0.007156164763851842,
+                    -0.021241814639623244
+                ],
+                [
+                    0.01739916278027445,
+                    -0.3496939609444478,
+                    -0.9367024088863704
+                ]
+            ],
+            "translation_vector": [
+                0.5627461285267666,
+                -0.03835380666794602,
+                0.6411327818763881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131331071665323,
+                    -0.9368366575795677,
+                    0.3494815910706705
+                ],
+                [
+                    -0.9997487557465069,
+                    0.007156164763851842,
+                    -0.021241814639623244
+                ],
+                [
+                    0.01739916278027445,
+                    -0.3496939609444478,
+                    -0.9367024088863704
+                ]
+            ],
+            "translation_vector": [
+                0.5627461285267666,
+                -0.03835380666794602,
+                0.6411327818763881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131407199030187,
+                    -0.9368351269335653,
+                    0.3494856910861244
+                ],
+                [
+                    -0.9997487557476477,
+                    0.007156164750188015,
+                    -0.021241814590527725
+                ],
+                [
+                    0.01739910088497064,
+                    -0.3496980615465847,
+                    -0.9367008791705898
+                ]
+            ],
+            "translation_vector": [
+                0.5627468076455524,
+                -0.03835380666133291,
+                0.6411328274873755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131331071665323,
+                    -0.9368366575795677,
+                    0.3494815910706705
+                ],
+                [
+                    -0.9997487557465069,
+                    0.007156164763851842,
+                    -0.021241814639623244
+                ],
+                [
+                    0.01739916278027445,
+                    -0.3496939609444478,
+                    -0.9367024088863704
+                ]
+            ],
+            "translation_vector": [
+                0.5627461285267666,
+                -0.03835380666794602,
+                0.6411328581703335
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413150306849491,
+                    -0.9368331997692363,
+                    0.3494908531437696
+                ],
+                [
+                    -0.9997487557484309,
+                    0.007156164747623525,
+                    -0.021241814554548787
+                ],
+                [
+                    0.017399022975158215,
+                    -0.34970322434349915,
+                    -0.9366989531772046
+                ]
+            ],
+            "translation_vector": [
+                0.562746241417764,
+                -0.03835380666135349,
+                0.6411342465635316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0141314700365802,
+                    -0.9368338636759869,
+                    0.3494890748285685
+                ],
+                [
+                    -0.9997487557483096,
+                    0.007156164745184868,
+                    -0.021241814561080947
+                ],
+                [
+                    0.017399049810630687,
+                    -0.3497014457734816,
+                    -0.9366996166806223
+                ]
+            ],
+            "translation_vector": [
+                0.5627467590106606,
+                -0.038353806659452275,
+                0.6411334268969363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131377393403885,
+                    -0.9368357262850187,
+                    0.34948408565911526
+                ],
+                [
+                    -0.9997487557471079,
+                    0.007156164757629389,
+                    -0.021241814613442506
+                ],
+                [
+                    0.01739912512385,
+                    -0.34969645588993936,
+                    -0.9367014781577646
+                ]
+            ],
+            "translation_vector": [
+                0.5627463386885695,
+                -0.03835380666511477,
+                0.6411330477453081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.641134292178568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411341026011552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411341026011552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411340263072098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413156267935565,
+                    -0.9368320010403772,
+                    0.3494940639881068
+                ],
+                [
+                    -0.9997487557495109,
+                    0.007156164732740986,
+                    -0.021241814508719047
+                ],
+                [
+                    0.017398974496917644,
+                    -0.34970643564710274,
+                    -0.936697755176906
+                ]
+            ],
+            "translation_vector": [
+                0.5627471793307323,
+                -0.03835380665378976,
+                0.6411338060508033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411343291686499
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131609000592503,
+                    -0.9368310697126058,
+                    0.349496558564158
+                ],
+                [
+                    -0.999748755750112,
+                    0.007156164726518711,
+                    -0.021241814482538077
+                ],
+                [
+                    0.01739893683987633,
+                    -0.3497089305801934,
+                    -0.9366968244150827
+                ]
+            ],
+            "translation_vector": [
+                0.5627473894900108,
+                -0.0383538066509585,
+                0.6411339956285763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411343291686499
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131688353358263,
+                    -0.9368294744524931,
+                    0.3495008314458635
+                ],
+                [
+                    -0.999748755750834,
+                    0.0071561647227356105,
+                    -0.02124181444982518
+                ],
+                [
+                    0.017398872346887338,
+                    -0.3497132040737487,
+                    -0.9366952301242546
+                ]
+            ],
+            "translation_vector": [
+                0.5627470820544481,
+                -0.03835380665002848,
+                0.6411350048751003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131638805896218,
+                    -0.9368304703397722,
+                    0.34949816398319106
+                ],
+                [
+                    -0.9997487557506519,
+                    0.007156164719077678,
+                    -0.021241814459623382
+                ],
+                [
+                    0.017398912600600072,
+                    -0.3497105362288579,
+                    -0.9366962254065306
+                ]
+            ],
+            "translation_vector": [
+                0.5627478584453691,
+                -0.03835380664717666,
+                0.6411336990784995
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131638805896218,
+                    -0.9368304703397722,
+                    0.34949816398319106
+                ],
+                [
+                    -0.9997487557506519,
+                    0.007156164719077678,
+                    -0.021241814459623382
+                ],
+                [
+                    0.017398912600600072,
+                    -0.3497105362288579,
+                    -0.9366962254065306
+                ]
+            ],
+            "translation_vector": [
+                0.5627478584453691,
+                -0.03835380664717666,
+                0.6411336990784995
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413153287394574,
+                    -0.9368326004061829,
+                    0.3494924585664513
+                ],
+                [
+                    -0.9997487557489708,
+                    0.007156164740181957,
+                    -0.021241814531634023
+                ],
+                [
+                    0.01739899873606376,
+                    -0.34970482999581426,
+                    -0.9366983541784313
+                ]
+            ],
+            "translation_vector": [
+                0.5627467103745152,
+                -0.03835380665757162,
+                0.6411341026011552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413197956687973,
+                    -0.9368236188512367,
+                    0.34951651508332876
+                ],
+                [
+                    -0.9997487557549183,
+                    0.0071561646767454665,
+                    -0.02124181427309043
+                ],
+                [
+                    0.017398635579103892,
+                    -0.3497288899556238,
+                    -0.9366893780813325
+                ]
+            ],
+            "translation_vector": [
+                0.5627490707460633,
+                -0.038353806628308534,
+                0.6411355885648543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132045629085245,
+                    -0.9368222909301542,
+                    0.34952007167359556
+                ],
+                [
+                    -0.999748755755161,
+                    0.007156164681623052,
+                    -0.02124181426002637
+                ],
+                [
+                    0.017398581906161694,
+                    -0.34973244705549883,
+                    -0.936688050966931
+                ]
+            ],
+            "translation_vector": [
+                0.5627480355507957,
+                -0.038353806632111,
+                0.6411371516118949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132045629085245,
+                    -0.9368222909301542,
+                    0.34952007167359556
+                ],
+                [
+                    -0.999748755755161,
+                    0.007156164681623052,
+                    -0.02124181426002637
+                ],
+                [
+                    0.017398581906161694,
+                    -0.34973244705549883,
+                    -0.936688050966931
+                ]
+            ],
+            "translation_vector": [
+                0.5627480355507957,
+                -0.038353806632111,
+                0.6411371516118949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131900215193985,
+                    -0.9368252141829031,
+                    0.34951224222831834
+                ],
+                [
+                    -0.9997487557541964,
+                    0.007156164680528074,
+                    -0.021241814305803425
+                ],
+                [
+                    0.017398700073421237,
+                    -0.3497246164887797,
+                    -0.936690972443704
+                ]
+            ],
+            "translation_vector": [
+                0.5627493781857635,
+                -0.038353806629238554,
+                0.6411344267231452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132138269368327,
+                    -0.9368204281294221,
+                    0.3495250607715309
+                ],
+                [
+                    -0.9997487557563627,
+                    0.007156164669180704,
+                    -0.021241814207664134
+                ],
+                [
+                    0.01739850658938298,
+                    -0.3497374368674799,
+                    -0.9366861892981158
+                ]
+            ],
+            "translation_vector": [
+                0.5627484558583202,
+                -0.03835380662644852,
+                0.6411375307796708
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132138269368327,
+                    -0.9368204281294221,
+                    0.3495250607715309
+                ],
+                [
+                    -0.9997487557563627,
+                    0.007156164669180704,
+                    -0.021241814207664134
+                ],
+                [
+                    0.01739850658938298,
+                    -0.3497374368674799,
+                    -0.9366861892981158
+                ]
+            ],
+            "translation_vector": [
+                0.5627484558583202,
+                -0.03835380662644852,
+                0.6411375307796708
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014132088722947614,
+                    -0.9368214240857101,
+                    0.3495223933346044
+                ],
+                [
+                    -0.9997487557561807,
+                    0.007156164665522395,
+                    -0.021241814217462147
+                ],
+                [
+                    0.017398546844376958,
+                    -0.3497347690483505,
+                    -0.9366871846493907
+                ]
+            ],
+            "translation_vector": [
+                0.5627492322564343,
+                -0.038353806623596665,
+                0.6411363012731028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411332680031554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131456747028304,
+                    -0.9368341310818111,
+                    0.3494883585620494
+                ],
+                [
+                    -0.9997487557478298,
+                    0.007156164753845574,
+                    -0.021241814580729722
+                ],
+                [
+                    0.017399060631917717,
+                    -0.3497007294047361,
+                    -0.9366998839238334
+                ]
+            ],
+            "translation_vector": [
+                0.5627460312573307,
+                -0.03835380666418474,
+                0.6411339806930934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130758686467326,
+                    -0.9368481645124743,
+                    0.34945076664467817
+                ],
+                [
+                    -0.9997487557392368,
+                    0.0071561648373059976,
+                    -0.021241814957058014
+                ],
+                [
+                    0.01739962806480099,
+                    -0.3496631321063602,
+                    -0.9367139088263704
+                ]
+            ],
+            "translation_vector": [
+                0.5627438653389184,
+                -0.03835380670097062,
+                0.6411301734836214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014130758686467326,
+                    -0.9368481645124743,
+                    0.34945076664467817
+                ],
+                [
+                    -0.9997487557392368,
+                    0.0071561648373059976,
+                    -0.021241814957058014
+                ],
+                [
+                    0.01739962806480099,
+                    -0.3496631321063602,
+                    -0.9367139088263704
+                ]
+            ],
+            "translation_vector": [
+                0.5627438653389184,
+                -0.03835380670097062,
+                0.6411301734836214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131410425461463,
+                    -0.9368350623877414,
+                    0.3494858639778503
+                ],
+                [
+                    -0.9997487557472291,
+                    0.007156164760067783,
+                    -0.021241814606910533
+                ],
+                [
+                    0.017399098288553582,
+                    -0.349698234463493,
+                    -0.9367008146638187
+                ]
+            ],
+            "translation_vector": [
+                0.5627458210963926,
+                -0.03835380666701599,
+                0.6411338674111055
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411331917092101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131347587736038,
+                    -0.9368363256337198,
+                    0.349482480231079
+                ],
+                [
+                    -0.9997487557465679,
+                    0.007156164765070838,
+                    -0.02124181463635717
+                ],
+                [
+                    0.017399149362678137,
+                    -0.34969485023226604,
+                    -0.9367020771421878
+                ]
+            ],
+            "translation_vector": [
+                0.5627458697310527,
+                -0.03835380666889662,
+                0.6411331917092101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131301265933052,
+                    -0.9368372569239928,
+                    0.3494799856410392
+                ],
+                [
+                    -0.999748755745967,
+                    0.0071561647712933074,
+                    -0.02124181466253813
+                ],
+                [
+                    0.017399187019023554,
+                    -0.34969235528517867,
+                    -0.9367030078665182
+                ]
+            ],
+            "translation_vector": [
+                0.5627456595689249,
+                -0.0383538066717279,
+                0.641133078428541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131393909439016,
+                    -0.9368353943368021,
+                    0.34948497481864016
+                ],
+                [
+                    -0.9997487557471685,
+                    0.007156164758848605,
+                    -0.02124181461017641
+                ],
+                [
+                    0.017399111706209544,
+                    -0.3496973451768735,
+                    -0.9367011464112137
+                ]
+            ],
+            "translation_vector": [
+                0.5627460798926756,
+                -0.038353806666065374,
+                0.6411334575783294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131440231041542,
+                    -0.9368344630332404,
+                    0.34948746940372244
+                ],
+                [
+                    -0.9997487557477694,
+                    0.007156164752626296,
+                    -0.021241814583995718
+                ],
+                [
+                    0.017399074049617744,
+                    -0.3496998401190005,
+                    -0.9367002156735966
+                ]
+            ],
+            "translation_vector": [
+                0.5627462900537936,
+                -0.03835380666323413,
+                0.6411336471540632
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131440231041542,
+                    -0.9368344630332404,
+                    0.34948746940372244
+                ],
+                [
+                    -0.9997487557477694,
+                    0.007156164752626296,
+                    -0.021241814583995718
+                ],
+                [
+                    0.017399074049617744,
+                    -0.3496998401190005,
+                    -0.9367002156735966
+                ]
+            ],
+            "translation_vector": [
+                0.5627462900537936,
+                -0.03835380666323413,
+                0.6411336471540632
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131440231041542,
+                    -0.9368344630332404,
+                    0.34948746940372244
+                ],
+                [
+                    -0.9997487557477694,
+                    0.007156164752626296,
+                    -0.021241814583995718
+                ],
+                [
+                    0.017399074049617744,
+                    -0.3496998401190005,
+                    -0.9367002156735966
+                ]
+            ],
+            "translation_vector": [
+                0.5627462900537936,
+                -0.03835380666323413,
+                0.6411336471540632
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131486552543785,
+                    -0.9368335317230337,
+                    0.3494899639863263
+                ],
+                [
+                    -0.9997487557483702,
+                    0.007156164746404213,
+                    -0.021241814557814726
+                ],
+                [
+                    0.01739903639290223,
+                    -0.34970233505864773,
+                    -0.9366992849293355
+                ]
+            ],
+            "translation_vector": [
+                0.5627465002144069,
+                -0.03835380666040287,
+                0.6411338367303566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131625516449187,
+                    -0.9368307377525479,
+                    0.3494974477192654
+                ],
+                [
+                    -0.9997487557501725,
+                    0.007156164727738142,
+                    -0.021241814479272238
+                ],
+                [
+                    0.01739892342201627,
+                    -0.3497098198627073,
+                    -0.936696492656692
+                ]
+            ],
+            "translation_vector": [
+                0.5627471306932171,
+                -0.03835380665190913,
+                0.6411344054625951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413171815855109,
+                    -0.9368288750723353,
+                    0.349502436862164
+                ],
+                [
+                    -0.999748755751374,
+                    0.007156164715294375,
+                    -0.021241814426910387
+                ],
+                [
+                    0.017398848107475287,
+                    -0.3497148097196789,
+                    -0.936694631108379
+                ]
+            ],
+            "translation_vector": [
+                0.5627475510098996,
+                -0.03835380664624662,
+                0.6411347846202192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01413151635801796,
+                    -0.9368329323615043,
+                    0.34949156940957704
+                ],
+                [
+                    -0.9997487557489104,
+                    0.007156164738962715,
+                    -0.02124181453490013
+                ],
+                [
+                    0.01739901215383607,
+                    -0.3497039407115324,
+                    -0.936698685932086
+                ]
+            ],
+            "translation_vector": [
+                0.5627469691709489,
+                -0.038353806656621026,
+                0.6411335401796445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131579195247747,
+                    -0.9368316690826877,
+                    0.34949495314409773
+                ],
+                [
+                    -0.9997487557495719,
+                    0.007156164733960161,
+                    -0.021241814505453125
+                ],
+                [
+                    0.017398961079101556,
+                    -0.349707324930501,
+                    -0.9366974234208834
+                ]
+            ],
+            "translation_vector": [
+                0.5627469205341186,
+                -0.038353806654740384,
+                0.6411342158846226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131840605274058,
+                    -0.9368264129740831,
+                    0.34950903140723105
+                ],
+                [
+                    -0.999748755753116,
+                    0.007156164695409728,
+                    -0.02124181435163362
+                ],
+                [
+                    0.017398748552818945,
+                    -0.34972140520844,
+                    -0.9366921705063145
+                ]
+            ],
+            "translation_vector": [
+                0.5627484402788302,
+                -0.038353806636802275,
+                0.6411349435258368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131840605274058,
+                    -0.9368264129740831,
+                    0.34950903140723105
+                ],
+                [
+                    -0.999748755753116,
+                    0.007156164695409728,
+                    -0.02124181435163362
+                ],
+                [
+                    0.017398748552818945,
+                    -0.34972140520844,
+                    -0.9366921705063145
+                ]
+            ],
+            "translation_vector": [
+                0.5627484402788302,
+                -0.038353806636802275,
+                0.6411349435258368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411343747858015
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131701642766118,
+                    -0.9368292070371297,
+                    0.3495015477088236
+                ],
+                [
+                    -0.9997487557513133,
+                    0.007156164714075012,
+                    -0.021241814430176385
+                ],
+                [
+                    0.017398861525423397,
+                    -0.34971392043893285,
+                    -0.9366949628715056
+                ]
+            ],
+            "translation_vector": [
+                0.5627478098070532,
+                -0.038353806645296,
+                0.6411344510797466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345187471821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.6411341089129636
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131655321729459,
+                    -0.9368301383781902,
+                    0.3494990531377303
+                ],
+                [
+                    -0.9997487557507129,
+                    0.007156164720296886,
+                    -0.021241814456357175
+                ],
+                [
+                    0.017398899182711494,
+                    -0.3497114255108033,
+                    -0.9366958936466161
+                ]
+            ],
+            "translation_vector": [
+                0.5627475996487845,
+                -0.03835380664812725,
+                0.641134185206909
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.014131671837550338,
+                    -0.9368298064157639,
+                    0.34949994229195414
+                ],
+                [
+                    -0.9997487557507735,
+                    0.007156164721516309,
+                    -0.02124181445309123
+                ],
+                [
+                    0.017398885764807265,
+                    -0.34971231479243325,
+                    -0.9366955618858572
+                ]
+            ],
+            "translation_vector": [
+                0.5627473408518109,
+                -0.03835380664907787,
+                0.6411345950411274
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a635e30a32fd5d739aadb95a7cde3740d05a795
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 321.7855224609375,
+        "fy": 428.5180257161458,
+        "ppx": 325.7337951660156,
+        "ppy": 236.8461710611979,
+        "distortion_model": "plumb bob",
+        "k1": -0.056978508830070496,
+        "k2": 0.064654640853405,
+        "k3": -0.02059057354927063,
+        "p1": -0.0007377127767540514,
+        "p2": 0.0011970652267336845
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d25f810955d0cf8c9c0927a0eb3c53cc88fe31
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                -0.7229113930571394,
+                0.32806240996220165,
+                -0.6080905960117944
+            ],
+            [
+                -0.04357163351711757,
+                -0.8999844231838301,
+                -0.43373903534166636
+            ],
+            [
+                -0.6895655375240537,
+                -0.28705938966747213,
+                0.6649032081911634
+            ]
+        ],
+        "translation_vector": [
+            -0.07829555950291489,
+            -0.015663006266547343,
+            0.011080525241457475
+        ]
+    }
+}
diff --git a/parameters/1957/1237171/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..453d5700150eca4449e923ff75486d6b45f7210d
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660128763201968,
+                    -0.954308007370067,
+                    -0.13613734499111066
+                ],
+                [
+                    -0.6895670951209857,
+                    -0.2870678684961689,
+                    0.6648979321696468
+                ],
+                [
+                    -0.6735980782026195,
+                    -0.08299557787279516,
+                    -0.7344231498906469
+                ]
+            ],
+            "translation_vector": [
+                0.5104523785720065,
+                0.01108179229244255,
+                0.6424678918090417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660128763201968,
+                    -0.954308007370067,
+                    -0.13613734499111066
+                ],
+                [
+                    -0.6895670951209857,
+                    -0.2870678684961689,
+                    0.6648979321696468
+                ],
+                [
+                    -0.6735980782026195,
+                    -0.08299557787279516,
+                    -0.7344231498906469
+                ]
+            ],
+            "translation_vector": [
+                0.5104523785720065,
+                0.01108179229244255,
+                0.6424678918090417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.642468344629423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660510631037241,
+                    -0.9543033006352827,
+                    -0.13609570977067734
+                ],
+                [
+                    -0.6895670947066401,
+                    -0.28706786877057,
+                    0.6648979324808936
+                ],
+                [
+                    -0.6735829969047786,
+                    -0.08304967860340594,
+                    -0.7344308661573594
+                ]
+            ],
+            "translation_vector": [
+                0.5104574440365971,
+                0.011081792338742473,
+                0.642468278385848
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424680267796637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424680267796637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26601864881311804,
+                    -0.9543072960764676,
+                    -0.13613105133975048
+                ],
+                [
+                    -0.6895670950374927,
+                    -0.28706786855985056,
+                    0.6648979322287436
+                ],
+                [
+                    -0.6735957986249603,
+                    -0.08300375591337517,
+                    -0.7344243164404868
+                ]
+            ],
+            "translation_vector": [
+                0.5104547119198616,
+                0.01108179230730727,
+                0.6424664186888277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26601864881311804,
+                    -0.9543072960764676,
+                    -0.13613105133975048
+                ],
+                [
+                    -0.6895670950374927,
+                    -0.28706786855985056,
+                    0.6648979322287436
+                ],
+                [
+                    -0.6735957986249603,
+                    -0.08300375591337517,
+                    -0.7344243164404868
+                ]
+            ],
+            "translation_vector": [
+                0.5104547119198616,
+                0.01108179230730727,
+                0.6424664186888277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660181337242044,
+                    -0.9543073595509731,
+                    -0.13613161292198958
+                ],
+                [
+                    -0.6895670950518427,
+                    -0.2870678685468249,
+                    0.664897932219485
+                ],
+                [
+                    -0.6735960020306354,
+                    -0.08300302617877173,
+                    -0.7344242123551697
+                ]
+            ],
+            "translation_vector": [
+                0.5104539851892629,
+                0.01108179230337907,
+                0.6424669361791046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424672640424889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424672640424889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603543327815843,
+                    -0.9543052274792171,
+                    -0.1361127512261193
+                ],
+                [
+                    -0.6895670948637174,
+                    -0.2870678686715805,
+                    0.6648979323607273
+                ],
+                [
+                    -0.6735891699854721,
+                    -0.08302753508443479,
+                    -0.7344277081483834
+                ]
+            ],
+            "translation_vector": [
+                0.5104563113181804,
+                0.011081792324511295,
+                0.6424671554285645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660204427166004,
+                    -0.9543070750164112,
+                    -0.13612909545900298
+                ],
+                [
+                    -0.6895670950184449,
+                    -0.2870678685722973,
+                    0.6648979322431235
+                ],
+                [
+                    -0.6735950901874863,
+                    -0.08300629739351474,
+                    -0.734424678961929
+                ]
+            ],
+            "translation_vector": [
+                0.5104549185270912,
+                0.01108179230932496,
+                0.6424663927078278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660204427166004,
+                    -0.9543070750164112,
+                    -0.13612909545900298
+                ],
+                [
+                    -0.6895670950184449,
+                    -0.2870678685722973,
+                    0.6648979322431235
+                ],
+                [
+                    -0.6735950901874863,
+                    -0.08300629739351474,
+                    -0.734424678961929
+                ]
+            ],
+            "translation_vector": [
+                0.5104549185270912,
+                0.01108179230932496,
+                0.6424663927078278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660300516093508,
+                    -0.9543058908087578,
+                    -0.13611861888966667
+                ],
+                [
+                    -0.6895670949208597,
+                    -0.2870678686342414,
+                    0.6648979323175859
+                ],
+                [
+                    -0.6735912954033282,
+                    -0.08301991065701088,
+                    -0.7344266206990113
+                ]
+            ],
+            "translation_vector": [
+                0.5104556914994487,
+                0.011081792318458177,
+                0.6424670044775853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673906519727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673906519727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602108212360287,
+                    -0.9543069962226252,
+                    -0.13612839830960488
+                ],
+                [
+                    -0.6895670950160961,
+                    -0.2870678685720081,
+                    0.6648979322456843
+                ],
+                [
+                    -0.6735948376708734,
+                    -0.08300720326619469,
+                    -0.734424808179214
+                ]
+            ],
+            "translation_vector": [
+                0.510454658465549,
+                0.01108179230836971,
+                0.6424667529036248
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26599481280021076,
+                    -0.9543102326905133,
+                    -0.13615703928023795
+                ],
+                [
+                    -0.689567095299457,
+                    -0.28706786838501,
+                    0.6648979320325467
+                ],
+                [
+                    -0.6736052112652127,
+                    -0.0829699868811968,
+                    -0.734419499082972
+                ]
+            ],
+            "translation_vector": [
+                0.5104512992825845,
+                0.011081792277149309,
+                0.64246628216294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26599481280021076,
+                    -0.9543102326905133,
+                    -0.13615703928023795
+                ],
+                [
+                    -0.689567095299457,
+                    -0.28706786838501,
+                    0.6648979320325467
+                ],
+                [
+                    -0.6736052112652127,
+                    -0.0829699868811968,
+                    -0.734419499082972
+                ]
+            ],
+            "translation_vector": [
+                0.5104512992825845,
+                0.011081792277149309,
+                0.64246628216294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26600545202329506,
+                    -0.9543089220809704,
+                    -0.1361454396244699
+                ],
+                [
+                    -0.6895670951731724,
+                    -0.28706786847301047,
+                    0.664897932125523
+                ],
+                [
+                    -0.6736010100558913,
+                    -0.0829850596614837,
+                    -0.7344216494117424
+                ]
+            ],
+            "translation_vector": [
+                0.5104535257263204,
+                0.011081792294138762,
+                0.6424657063191419
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660336393904426,
+                    -0.9543054485958322,
+                    -0.1361147071149335
+                ],
+                [
+                    -0.6895670948827646,
+                    -0.287067868659134,
+                    0.6648979323463466
+                ],
+                [
+                    -0.6735898784628681,
+                    -0.08302499360921586,
+                    -0.7344273456704681
+                ]
+            ],
+            "translation_vector": [
+                0.5104561047120705,
+                0.011081792322493586,
+                0.6424671051110212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660336393904426,
+                    -0.9543054485958322,
+                    -0.1361147071149335
+                ],
+                [
+                    -0.6895670948827646,
+                    -0.287067868659134,
+                    0.6648979323463466
+                ],
+                [
+                    -0.6735898784628681,
+                    -0.08302499360921586,
+                    -0.7344273456704681
+                ]
+            ],
+            "translation_vector": [
+                0.5104561047120705,
+                0.011081792322493586,
+                0.6424671051110212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26606887739740936,
+                    -0.9543011038364632,
+                    -0.1360762863139338
+                ],
+                [
+                    -0.6895670945041625,
+                    -0.2870678689083392,
+                    0.6648979326314025
+                ],
+                [
+                    -0.6735759605698316,
+                    -0.08307491713467971,
+                    -0.734434465071933
+                ]
+            ],
+            "translation_vector": [
+                0.5104604968716383,
+                0.011081792363803326,
+                0.6424677513653367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660395361305359,
+                    -0.9543047217285476,
+                    -0.13610827786012722
+                ],
+                [
+                    -0.6895670948112723,
+                    -0.2870678687094981,
+                    0.6648979323987474
+                ],
+                [
+                    -0.6735875495947002,
+                    -0.08303334776574177,
+                    -0.73442853715649
+                ]
+            ],
+            "translation_vector": [
+                0.5104574512594993,
+                0.011081792332474935,
+                0.6424665859883402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660395361305359,
+                    -0.9543047217285476,
+                    -0.13610827786012722
+                ],
+                [
+                    -0.6895670948112723,
+                    -0.2870678687094981,
+                    0.6648979323987474
+                ],
+                [
+                    -0.6735875495947002,
+                    -0.08303334776574177,
+                    -0.73442853715649
+                ]
+            ],
+            "translation_vector": [
+                0.5104574512594993,
+                0.011081792332474935,
+                0.6424665859883402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604260881015357,
+                    -0.9543043429450724,
+                    -0.13610492766120777
+                ],
+                [
+                    -0.6895670947875274,
+                    -0.28706786872136525,
+                    0.6648979324182496
+                ],
+                [
+                    -0.6735863360281132,
+                    -0.08303770097942273,
+                    -0.7344291580079559
+                ]
+            ],
+            "translation_vector": [
+                0.5104571377412801,
+                0.011081792332582137,
+                0.6424672804102944
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602877280183124,
+                    -0.954306048419595,
+                    -0.13612001319178152
+                ],
+                [
+                    -0.689567094925557,
+                    -0.2870678686348202,
+                    0.6648979323124645
+                ],
+                [
+                    -0.6735918004529756,
+                    -0.08301809891367476,
+                    -0.7344263622823458
+                ]
+            ],
+            "translation_vector": [
+                0.5104562116226686,
+                0.011081792320368699,
+                0.6424662840837834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602877280183124,
+                    -0.954306048419595,
+                    -0.13612001319178152
+                ],
+                [
+                    -0.689567094925557,
+                    -0.2870678686348202,
+                    0.6648979323124645
+                ],
+                [
+                    -0.6735918004529756,
+                    -0.08301809891367476,
+                    -0.7344263622823458
+                ]
+            ],
+            "translation_vector": [
+                0.5104562116226686,
+                0.011081792320368699,
+                0.6424662840837834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660300516093508,
+                    -0.9543058908087578,
+                    -0.13611861888966667
+                ],
+                [
+                    -0.6895670949208597,
+                    -0.2870678686342414,
+                    0.6648979323175859
+                ],
+                [
+                    -0.6735912954033282,
+                    -0.08301991065701088,
+                    -0.7344266206990113
+                ]
+            ],
+            "translation_vector": [
+                0.5104556914994487,
+                0.011081792318458177,
+                0.6424669281836399
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602877280183124,
+                    -0.954306048419595,
+                    -0.13612001319178152
+                ],
+                [
+                    -0.689567094925557,
+                    -0.2870678686348202,
+                    0.6648979323124645
+                ],
+                [
+                    -0.6735918004529756,
+                    -0.08301809891367476,
+                    -0.7344263622823458
+                ]
+            ],
+            "translation_vector": [
+                0.5104562116226686,
+                0.011081792320368699,
+                0.6424662840837834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602877280183124,
+                    -0.954306048419595,
+                    -0.13612001319178152
+                ],
+                [
+                    -0.689567094925557,
+                    -0.2870678686348202,
+                    0.6648979323124645
+                ],
+                [
+                    -0.6735918004529756,
+                    -0.08301809891367476,
+                    -0.7344263622823458
+                ]
+            ],
+            "translation_vector": [
+                0.5104562116226686,
+                0.011081792320368699,
+                0.6424662840837834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660264638207118,
+                    -0.95430633299461,
+                    -0.13612253066053814
+                ],
+                [
+                    -0.6895670949589544,
+                    -0.2870678686093482,
+                    0.6648979322888251
+                ],
+                [
+                    -0.6735927123246785,
+                    -0.08301482770245072,
+                    -0.7344258957067189
+                ]
+            ],
+            "translation_vector": [
+                0.5104552782862908,
+                0.011081792314422776,
+                0.6424669038463504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660157004095137,
+                    -0.9543076593897252,
+                    -0.1361342659499826
+                ],
+                [
+                    -0.6895670950732382,
+                    -0.2870678685346674,
+                    0.6648979322025439
+                ],
+                [
+                    -0.673596962974071,
+                    -0.08299957882464007,
+                    -0.7344237206048296
+                ]
+            ],
+            "translation_vector": [
+                0.5104540386436014,
+                0.011081792302316644,
+                0.6424666782597963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660157004095137,
+                    -0.9543076593897252,
+                    -0.1361342659499826
+                ],
+                [
+                    -0.6895670950732382,
+                    -0.2870678685346674,
+                    0.6648979322025439
+                ],
+                [
+                    -0.673596962974071,
+                    -0.08299957882464007,
+                    -0.7344237206048296
+                ]
+            ],
+            "translation_vector": [
+                0.5104540386436014,
+                0.011081792302316644,
+                0.6424666782597963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602287602452607,
+                    -0.9543067751533887,
+                    -0.13612644242754823
+                ],
+                [
+                    -0.6895670949970493,
+                    -0.287067868584455,
+                    0.6648979322600646
+                ],
+                [
+                    -0.6735941292269193,
+                    -0.08300974474553528,
+                    -0.7344251706935914
+                ]
+            ],
+            "translation_vector": [
+                0.510454865072597,
+                0.011081792310387386,
+                0.6424668032173164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602466992356233,
+                    -0.9543065540773835,
+                    -0.136124486544526
+                ],
+                [
+                    -0.6895670949780018,
+                    -0.28706786859690175,
+                    0.6648979322744448
+                ],
+                [
+                    -0.6735934207781876,
+                    -0.08301228622428744,
+                    -0.7344255332027597
+                ]
+            ],
+            "translation_vector": [
+                0.5104550716795109,
+                0.011081792312405081,
+                0.6424668535315583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602466992356233,
+                    -0.9543065540773835,
+                    -0.136124486544526
+                ],
+                [
+                    -0.6895670949780018,
+                    -0.28706786859690175,
+                    0.6648979322744448
+                ],
+                [
+                    -0.6735934207781876,
+                    -0.08301228622428744,
+                    -0.7344255332027597
+                ]
+            ],
+            "translation_vector": [
+                0.5104550716795109,
+                0.011081792312405081,
+                0.6424668535315583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660300516093508,
+                    -0.9543058908087578,
+                    -0.13611861888966667
+                ],
+                [
+                    -0.6895670949208597,
+                    -0.2870678686342414,
+                    0.6648979323175859
+                ],
+                [
+                    -0.6735912954033282,
+                    -0.08301991065701088,
+                    -0.7344266206990113
+                ]
+            ],
+            "translation_vector": [
+                0.5104556914994487,
+                0.011081792318458177,
+                0.6424670044775853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660276183116623,
+                    -0.9543061907085039,
+                    -0.13612127192635987
+                ],
+                [
+                    -0.6895670949422558,
+                    -0.2870678686220843,
+                    0.6648979323006444
+                ],
+                [
+                    -0.6735922563898161,
+                    -0.08301646330818441,
+                    -0.7344261289956113
+                ]
+            ],
+            "translation_vector": [
+                0.5104557449546699,
+                0.011081792317395712,
+                0.6424665939651113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660276183116623,
+                    -0.9543061907085039,
+                    -0.13612127192635987
+                ],
+                [
+                    -0.6895670949422558,
+                    -0.2870678686220843,
+                    0.6648979323006444
+                ],
+                [
+                    -0.6735922563898161,
+                    -0.08301646330818441,
+                    -0.7344261289956113
+                ]
+            ],
+            "translation_vector": [
+                0.5104557449546699,
+                0.011081792317395712,
+                0.6424665939651113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603069101275073,
+                    -0.9543058120020497,
+                    -0.1361179217384254
+                ],
+                [
+                    -0.6895670949185109,
+                    -0.2870678686339518,
+                    0.6648979323201465
+                ],
+                [
+                    -0.6735910428775942,
+                    -0.0830208165285666,
+                    -0.7344267499063514
+                ]
+            ],
+            "translation_vector": [
+                0.5104554314373259,
+                0.011081792317502918,
+                0.6424673646741161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660282577159746,
+                    -0.9543061119050682,
+                    -0.13612057477558534
+                ],
+                [
+                    -0.6895670949399069,
+                    -0.28706786862179484,
+                    0.6648979323032054
+                ],
+                [
+                    -0.6735920038663922,
+                    -0.08301736918002503,
+                    -0.7344262582054695
+                ]
+            ],
+            "translation_vector": [
+                0.5104554848929367,
+                0.01108179231644048,
+                0.642467030455638
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660282577159746,
+                    -0.9543061119050682,
+                    -0.13612057477558534
+                ],
+                [
+                    -0.6895670949399069,
+                    -0.28706786862179484,
+                    0.6648979323032054
+                ],
+                [
+                    -0.6735920038663922,
+                    -0.08301736918002503,
+                    -0.7344262582054695
+                ]
+            ],
+            "translation_vector": [
+                0.5104554848929367,
+                0.01108179231644048,
+                0.642467030455638
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424672640424889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660282577159746,
+                    -0.9543061119050682,
+                    -0.13612057477558534
+                ],
+                [
+                    -0.6895670949399069,
+                    -0.28706786862179484,
+                    0.6648979323032054
+                ],
+                [
+                    -0.6735920038663922,
+                    -0.08301736918002503,
+                    -0.7344262582054695
+                ]
+            ],
+            "translation_vector": [
+                0.5104554848929367,
+                0.01108179231644048,
+                0.6424669541616927
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660282577159746,
+                    -0.9543061119050682,
+                    -0.13612057477558534
+                ],
+                [
+                    -0.6895670949399069,
+                    -0.28706786862179484,
+                    0.6648979323032054
+                ],
+                [
+                    -0.6735920038663922,
+                    -0.08301736918002503,
+                    -0.7344262582054695
+                ]
+            ],
+            "translation_vector": [
+                0.5104554848929367,
+                0.01108179231644048,
+                0.6424669541616927
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660300516093508,
+                    -0.9543058908087578,
+                    -0.13611861888966667
+                ],
+                [
+                    -0.6895670949208597,
+                    -0.2870678686342414,
+                    0.6648979323175859
+                ],
+                [
+                    -0.6735912954033282,
+                    -0.08301991065701088,
+                    -0.7344266206990113
+                ]
+            ],
+            "translation_vector": [
+                0.5104556914994487,
+                0.011081792318458177,
+                0.6424670044775853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602941220571086,
+                    -0.9543059696146063,
+                    -0.13611931604078537
+                ],
+                [
+                    -0.6895670949232082,
+                    -0.2870678686345307,
+                    0.664897932315025
+                ],
+                [
+                    -0.6735915479284552,
+                    -0.08301900478538018,
+                    -0.7344264914910096
+                ]
+            ],
+            "translation_vector": [
+                0.5104559515612297,
+                0.01108179231941343,
+                0.6424666442808078
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602941220571086,
+                    -0.9543059696146063,
+                    -0.13611931604078537
+                ],
+                [
+                    -0.6895670949232082,
+                    -0.2870678686345307,
+                    0.664897932315025
+                ],
+                [
+                    -0.6735915479284552,
+                    -0.08301900478538018,
+                    -0.7344264914910096
+                ]
+            ],
+            "translation_vector": [
+                0.5104559515612297,
+                0.01108179231941343,
+                0.6424666442808078
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660372271639876,
+                    -0.9543050063558335,
+                    -0.1361107953363393
+                ],
+                [
+                    -0.6895670948446698,
+                    -0.2870678686840269,
+                    0.6648979323751079
+                ],
+                [
+                    -0.6735884615032984,
+                    -0.08303007655906537,
+                    -0.73442807062109
+                ]
+            ],
+            "translation_vector": [
+                0.5104565179241564,
+                0.011081792326529007,
+                0.6424672057466579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660372271639876,
+                    -0.9543050063558335,
+                    -0.1361107953363393
+                ],
+                [
+                    -0.6895670948446698,
+                    -0.2870678686840269,
+                    0.6648979323751079
+                ],
+                [
+                    -0.6735884615032984,
+                    -0.08303007655906537,
+                    -0.73442807062109
+                ]
+            ],
+            "translation_vector": [
+                0.5104565179241564,
+                0.011081792326529007,
+                0.6424672057466579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26606118690002717,
+                    -0.9543020522882056,
+                    -0.13608467152427228
+                ],
+                [
+                    -0.6895670945947034,
+                    -0.28706786884553337,
+                    0.6648979325646185
+                ],
+                [
+                    -0.6735789982456177,
+                    -0.08306402154364959,
+                    -0.734432911468044
+                ]
+            ],
+            "translation_vector": [
+                0.5104589437267134,
+                0.011081792351804115,
+                0.6424682964257538
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605042370796145,
+                    -0.9543033794693884,
+                    -0.1360964069258261
+                ],
+                [
+                    -0.6895670947089888,
+                    -0.28706786877085944,
+                    0.664897932478333
+                ],
+                [
+                    -0.6735832494498509,
+                    -0.08304877273423372,
+                    -0.7344307369711038
+                ]
+            ],
+            "translation_vector": [
+                0.5104577040995874,
+                0.011081792339697734,
+                0.6424679944813521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605042370796145,
+                    -0.9543033794693884,
+                    -0.1360964069258261
+                ],
+                [
+                    -0.6895670947089888,
+                    -0.28706786877085944,
+                    0.664897932478333
+                ],
+                [
+                    -0.6735832494498509,
+                    -0.08304877273423372,
+                    -0.7344307369711038
+                ]
+            ],
+            "translation_vector": [
+                0.5104577040995874,
+                0.011081792339697734,
+                0.6424679944813521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660479904393383,
+                    -0.9543036794733961,
+                    -0.13609905997738916
+                ],
+                [
+                    -0.689567094730385,
+                    -0.2870678687587033,
+                    0.6648979324613915
+                ],
+                [
+                    -0.6735842105099313,
+                    -0.08304532539447942,
+                    -0.7344302453479423
+                ]
+            ],
+            "translation_vector": [
+                0.5104577575571977,
+                0.011081792338635281,
+                0.6424675076667736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660318455008401,
+                    -0.9543056697056792,
+                    -0.1361166630027829
+                ],
+                [
+                    -0.689567094901812,
+                    -0.2870678686466877,
+                    0.6648979323319664
+                ],
+                [
+                    -0.673590586935487,
+                    -0.08302245213340778,
+                    -0.7344269831873439
+                ]
+            ],
+            "translation_vector": [
+                0.5104558981058266,
+                0.011081792320475896,
+                0.6424670547940282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.6424673386968097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.6424673386968097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602941220571086,
+                    -0.9543059696146063,
+                    -0.13611931604078537
+                ],
+                [
+                    -0.6895670949232082,
+                    -0.2870678686345307,
+                    0.664897932315025
+                ],
+                [
+                    -0.6735915479284552,
+                    -0.08301900478538018,
+                    -0.7344264914910096
+                ]
+            ],
+            "translation_vector": [
+                0.5104559515612297,
+                0.01108179231941343,
+                0.6424665679868625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604145432934995,
+                    -0.9543044852675779,
+                    -0.1361061864005779
+                ],
+                [
+                    -0.6895670948042263,
+                    -0.28706786870862955,
+                    0.6648979324064296
+                ],
+                [
+                    -0.6735867919886681,
+                    -0.08303606537685544,
+                    -0.7344289247470764
+                ]
+            ],
+            "translation_vector": [
+                0.5104566710732968,
+                0.011081792329609163,
+                0.6424676665822031
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604145432934995,
+                    -0.9543044852675779,
+                    -0.1361061864005779
+                ],
+                [
+                    -0.6895670948042263,
+                    -0.28706786870862955,
+                    0.6648979324064296
+                ],
+                [
+                    -0.6735867919886681,
+                    -0.08303606537685544,
+                    -0.7344289247470764
+                ]
+            ],
+            "translation_vector": [
+                0.5104566710732968,
+                0.011081792329609163,
+                0.6424676665822031
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660408149299851,
+                    -0.9543045640887611,
+                    -0.13610688355388384
+                ],
+                [
+                    -0.689567094806575,
+                    -0.2870678687089193,
+                    0.664897932403869
+                ],
+                [
+                    -0.673587044524619,
+                    -0.08303515950655894,
+                    -0.734428795550876
+                ]
+            ],
+            "translation_vector": [
+                0.5104569311357061,
+                0.011081792330564428,
+                0.6424672300905503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660408149299851,
+                    -0.9543045640887611,
+                    -0.13610688355388384
+                ],
+                [
+                    -0.689567094806575,
+                    -0.2870678687089193,
+                    0.664897932403869
+                ],
+                [
+                    -0.673587044524619,
+                    -0.08303515950655894,
+                    -0.734428795550876
+                ]
+            ],
+            "translation_vector": [
+                0.5104569311357061,
+                0.011081792330564428,
+                0.6424673063844957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660408149299851,
+                    -0.9543045640887611,
+                    -0.13610688355388384
+                ],
+                [
+                    -0.689567094806575,
+                    -0.2870678687089193,
+                    0.664897932403869
+                ],
+                [
+                    -0.673587044524619,
+                    -0.08303515950655894,
+                    -0.734428795550876
+                ]
+            ],
+            "translation_vector": [
+                0.5104569311357061,
+                0.011081792330564428,
+                0.6424673063844957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660372271639876,
+                    -0.9543050063558335,
+                    -0.1361107953363393
+                ],
+                [
+                    -0.6895670948446698,
+                    -0.2870678686840269,
+                    0.6648979323751079
+                ],
+                [
+                    -0.6735884615032984,
+                    -0.08303007655906537,
+                    -0.73442807062109
+                ]
+            ],
+            "translation_vector": [
+                0.5104565179241564,
+                0.011081792326529007,
+                0.6424672057466579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604273312736093,
+                    -0.9543043276226314,
+                    -0.13610479209359827
+                ],
+                [
+                    -0.6895670947995288,
+                    -0.28706786870805057,
+                    0.6648979324115509
+                ],
+                [
+                    -0.6735862869149447,
+                    -0.08303787711722388,
+                    -0.7344291831374916
+                ]
+            ],
+            "translation_vector": [
+                0.5104561509474522,
+                0.011081792327698632,
+                0.6424683869768772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604273312736093,
+                    -0.9543043276226314,
+                    -0.13610479209359827
+                ],
+                [
+                    -0.6895670947995288,
+                    -0.28706786870805057,
+                    0.6648979324115509
+                ],
+                [
+                    -0.6735862869149447,
+                    -0.08303787711722388,
+                    -0.7344291831374916
+                ]
+            ],
+            "translation_vector": [
+                0.5104561509474522,
+                0.011081792327698632,
+                0.6424683869768772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660445270055119,
+                    -0.9543041064717057,
+                    -0.1361028361998904
+                ],
+                [
+                    -0.6895670947804818,
+                    -0.2870678687204968,
+                    0.6648979324259319
+                ],
+                [
+                    -0.6735855784133308,
+                    -0.08304041858945778,
+                    -0.734429545589002
+                ]
+            ],
+            "translation_vector": [
+                0.5104563575528828,
+                0.011081792329716346,
+                0.6424685135911552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424681613603822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424681613603822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660212064423797,
+                    -0.9543069809058139,
+                    -0.13612826274279796
+                ],
+                [
+                    -0.6895670950280979,
+                    -0.28706786855869304,
+                    0.6648979322389866
+                ],
+                [
+                    -0.6735947885616786,
+                    -0.0830073794044859,
+                    -0.7344248333130821
+                ]
+            ],
+            "translation_vector": [
+                0.5104536716718326,
+                0.011081792303486247,
+                0.6424677831758046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660172278649767,
+                    -0.9543074711825394,
+                    -0.1361326005195706
+                ],
+                [
+                    -0.6895670950925438,
+                    -0.2870678685074583,
+                    0.6648979321942702
+                ],
+                [
+                    -0.673596359732344,
+                    -0.08300174284780103,
+                    -0.7344240293179164
+                ]
+            ],
+            "translation_vector": [
+                0.5104515449255643,
+                0.011081792290639197,
+                0.642469459187009
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660172278649767,
+                    -0.9543074711825394,
+                    -0.1361326005195706
+                ],
+                [
+                    -0.6895670950925438,
+                    -0.2870678685074583,
+                    0.6648979321942702
+                ],
+                [
+                    -0.673596359732344,
+                    -0.08300174284780103,
+                    -0.7344240293179164
+                ]
+            ],
+            "translation_vector": [
+                0.5104515449255643,
+                0.011081792290639197,
+                0.642469459187009
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660273518621236,
+                    -0.9543062235559224,
+                    -0.1361215623759173
+                ],
+                [
+                    -0.6895670949806086,
+                    -0.28706786858242894,
+                    0.66489793227799
+                ],
+                [
+                    -0.6735923615817149,
+                    -0.08301608585073227,
+                    -0.7344260751830599
+                ]
+            ],
+            "translation_vector": [
+                0.5104530446318943,
+                0.011081792303700568,
+                0.6424693245823561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660273518621236,
+                    -0.9543062235559224,
+                    -0.1361215623759173
+                ],
+                [
+                    -0.6895670949806086,
+                    -0.28706786858242894,
+                    0.66489793227799
+                ],
+                [
+                    -0.6735923615817149,
+                    -0.08301608585073227,
+                    -0.7344260751830599
+                ]
+            ],
+            "translation_vector": [
+                0.5104530446318943,
+                0.011081792303700568,
+                0.6424693245823561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604157864664196,
+                    -0.954304469945439,
+                    -0.13610605083301083
+                ],
+                [
+                    -0.6895670948162279,
+                    -0.287067868695315,
+                    0.6648979323997313
+                ],
+                [
+                    -0.6735867428757124,
+                    -0.08303624151468365,
+                    -0.7344289498768448
+                ]
+            ],
+            "translation_vector": [
+                0.5104556842785002,
+                0.011081792324725654,
+                0.6424686968538658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660314547339412,
+                    -0.9543057178749903,
+                    -0.1361170890198718
+                ],
+                [
+                    -0.6895670949281637,
+                    -0.28706786862034744,
+                    0.6648979323160095
+                ],
+                [
+                    -0.6735907412401667,
+                    -0.08302189853810628,
+                    -0.7344269042448353
+                ]
+            ],
+            "translation_vector": [
+                0.5104541845791424,
+                0.011081792311664186,
+                0.642468678846952
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660314547339412,
+                    -0.9543057178749903,
+                    -0.1361170890198718
+                ],
+                [
+                    -0.6895670949281637,
+                    -0.28706786862034744,
+                    0.6648979323160095
+                ],
+                [
+                    -0.6735907412401667,
+                    -0.08302189853810628,
+                    -0.7344269042448353
+                ]
+            ],
+            "translation_vector": [
+                0.5104541845791424,
+                0.011081792311664186,
+                0.642468678846952
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604696027907704,
+                    -0.9543038064854233,
+                    -0.13610018315085495
+                ],
+                [
+                    -0.6895670947590854,
+                    -0.28706786873265305,
+                    0.6648979324428733
+                ],
+                [
+                    -0.6735846173657616,
+                    -0.08304386593075505,
+                    -0.7344300372258047
+                ]
+            ],
+            "translation_vector": [
+                0.5104563040946487,
+                0.011081792330778809,
+                0.6424687715215064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603324862395444,
+                    -0.9543054967666174,
+                    -0.13611513313223314
+                ],
+                [
+                    -0.689567094909116,
+                    -0.2870678686327938,
+                    0.6648979323303897
+                ],
+                [
+                    -0.6735900327685886,
+                    -0.08302444001404229,
+                    -0.7344272667290936
+                ]
+            ],
+            "translation_vector": [
+                0.5104543911854155,
+                0.01108179231368189,
+                0.6424688054577705
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603324862395444,
+                    -0.9543054967666174,
+                    -0.13611513313223314
+                ],
+                [
+                    -0.689567094909116,
+                    -0.2870678686327938,
+                    0.6648979323303897
+                ],
+                [
+                    -0.6735900327685886,
+                    -0.08302444001404229,
+                    -0.7344272667290936
+                ]
+            ],
+            "translation_vector": [
+                0.5104543911854155,
+                0.01108179231368189,
+                0.6424688054577705
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660482390729592,
+                    -0.9543036488256676,
+                    -0.13609878884176327
+                ],
+                [
+                    -0.6895670947543879,
+                    -0.28706786873207385,
+                    0.6648979324479947
+                ],
+                [
+                    -0.6735841122815854,
+                    -0.0830456776698348,
+                    -0.7344302956048228
+                ]
+            ],
+            "translation_vector": [
+                0.5104557839665617,
+                0.011081792328868278,
+                0.6424696445033746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660505480245994,
+                    -0.9543033641449041,
+                    -0.13609627135792496
+                ],
+                [
+                    -0.6895670947209903,
+                    -0.2870678687575451,
+                    0.6648979324716345
+                ],
+                [
+                    -0.6735832003352402,
+                    -0.08304894887185761,
+                    -0.734430762099067
+                ]
+            ],
+            "translation_vector": [
+                0.5104567173047443,
+                0.011081792334814234,
+                0.6424689484592601
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.642468344629423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.642468344629423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660272275437949,
+                    -0.9543062388743409,
+                    -0.13612169794295337
+                ],
+                [
+                    -0.6895670949686072,
+                    -0.2870678685957438,
+                    0.6648979322846877
+                ],
+                [
+                    -0.673592410692044,
+                    -0.08301590971258069,
+                    -0.7344260500504286
+                ]
+            ],
+            "translation_vector": [
+                0.5104540314295413,
+                0.011081792308584035,
+                0.6424682943138464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660254336474485,
+                    -0.954306459959996,
+                    -0.13612365382735198
+                ],
+                [
+                    -0.6895670949876547,
+                    -0.2870678685832971,
+                    0.6648979322703077
+                ],
+                [
+                    -0.673593119147587,
+                    -0.0830133682346682,
+                    -0.7344256875486869
+                ]
+            ],
+            "translation_vector": [
+                0.5104538248228184,
+                0.01108179230656635,
+                0.6424681677048748
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660254336474485,
+                    -0.954306459959996,
+                    -0.13612365382735198
+                ],
+                [
+                    -0.6895670949876547,
+                    -0.2870678685832971,
+                    0.6648979322703077
+                ],
+                [
+                    -0.673593119147587,
+                    -0.0830133682346682,
+                    -0.7344256875486869
+                ]
+            ],
+            "translation_vector": [
+                0.5104538248228184,
+                0.01108179230656635,
+                0.6424681677048748
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.6424682683354779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660272275437949,
+                    -0.9543062388743409,
+                    -0.13612169794295337
+                ],
+                [
+                    -0.6895670949686072,
+                    -0.2870678685957438,
+                    0.6648979322846877
+                ],
+                [
+                    -0.673592410692044,
+                    -0.08301590971258069,
+                    -0.7344260500504286
+                ]
+            ],
+            "translation_vector": [
+                0.5104540314295413,
+                0.011081792308584035,
+                0.6424682943138464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660272275437949,
+                    -0.9543062388743409,
+                    -0.13612169794295337
+                ],
+                [
+                    -0.6895670949686072,
+                    -0.2870678685957438,
+                    0.6648979322846877
+                ],
+                [
+                    -0.673592410692044,
+                    -0.08301590971258069,
+                    -0.7344260500504286
+                ]
+            ],
+            "translation_vector": [
+                0.5104540314295413,
+                0.011081792308584035,
+                0.6424682943138464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660314547339412,
+                    -0.9543057178749903,
+                    -0.1361170890198718
+                ],
+                [
+                    -0.6895670949281637,
+                    -0.28706786862034744,
+                    0.6648979323160095
+                ],
+                [
+                    -0.6735907412401667,
+                    -0.08302189853810628,
+                    -0.7344269042448353
+                ]
+            ],
+            "translation_vector": [
+                0.5104541845791424,
+                0.011081792311664186,
+                0.642468678846952
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603863028267444,
+                    -0.9543048334008893,
+                    -0.13610926546352423
+                ],
+                [
+                    -0.6895670948519739,
+                    -0.28706786867013284,
+                    0.664897932373531
+                ],
+                [
+                    -0.6735879073251896,
+                    -0.08303206443831805,
+                    -0.7344283541506166
+                ]
+            ],
+            "translation_vector": [
+                0.5104550110034308,
+                0.01108179231973499,
+                0.6424689564116914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603863028267444,
+                    -0.9543048334008893,
+                    -0.13610926546352423
+                ],
+                [
+                    -0.6895670948519739,
+                    -0.28706786867013284,
+                    0.664897932373531
+                ],
+                [
+                    -0.6735879073251896,
+                    -0.08303206443831805,
+                    -0.7344283541506166
+                ]
+            ],
+            "translation_vector": [
+                0.5104550110034308,
+                0.01108179231973499,
+                0.6424689564116914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660523418945303,
+                    -0.954303142964492,
+                    -0.13609431546001194
+                ],
+                [
+                    -0.689567094701943,
+                    -0.28706786876999096,
+                    0.6648979324860154
+                ],
+                [
+                    -0.6735824918128136,
+                    -0.08305149034152558,
+                    -0.734431124527885
+                ]
+            ],
+            "translation_vector": [
+                0.5104569239095911,
+                0.011081792336831953,
+                0.6424689987819896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660523418945303,
+                    -0.954303142964492,
+                    -0.13609431546001194
+                ],
+                [
+                    -0.689567094701943,
+                    -0.28706786876999096,
+                    0.6648979324860154
+                ],
+                [
+                    -0.6735824918128136,
+                    -0.08305149034152558,
+                    -0.734431124527885
+                ]
+            ],
+            "translation_vector": [
+                0.5104569239095911,
+                0.011081792336831953,
+                0.6424689987819896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604273312736093,
+                    -0.9543043276226314,
+                    -0.13610479209359827
+                ],
+                [
+                    -0.6895670947995288,
+                    -0.28706786870805057,
+                    0.6648979324115509
+                ],
+                [
+                    -0.6735862869149447,
+                    -0.08303787711722388,
+                    -0.7344291831374916
+                ]
+            ],
+            "translation_vector": [
+                0.5104561509474522,
+                0.011081792327698632,
+                0.6424683869768772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603966044796734,
+                    -0.9543047064069106,
+                    -0.1361081422926324
+                ],
+                [
+                    -0.6895670948232738,
+                    -0.2870678686961835,
+                    0.6648979323920488
+                ],
+                [
+                    -0.6735875004820988,
+                    -0.08303352390361292,
+                    -0.7344285622866444
+                ]
+            ],
+            "translation_vector": [
+                0.5104564644676367,
+                0.01108179232759143,
+                0.642467616262813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603966044796734,
+                    -0.9543047064069106,
+                    -0.1361081422926324
+                ],
+                [
+                    -0.6895670948232738,
+                    -0.2870678686961835,
+                    0.6648979323920488
+                ],
+                [
+                    -0.6735875004820988,
+                    -0.08303352390361292,
+                    -0.7344285622866444
+                ]
+            ],
+            "translation_vector": [
+                0.5104564644676367,
+                0.01108179232759143,
+                0.642467616262813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424674653079442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424671877485436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424671877485436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424672640424889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660181337242044,
+                    -0.9543073595509731,
+                    -0.13613161292198958
+                ],
+                [
+                    -0.6895670950518427,
+                    -0.2870678685468249,
+                    0.664897932219485
+                ],
+                [
+                    -0.6735960020306354,
+                    -0.08300302617877173,
+                    -0.7344242123551697
+                ]
+            ],
+            "translation_vector": [
+                0.5104539851892629,
+                0.01108179230337907,
+                0.6424669361791046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660181337242044,
+                    -0.9543073595509731,
+                    -0.13613161292198958
+                ],
+                [
+                    -0.6895670950518427,
+                    -0.2870678685468249,
+                    0.664897932219485
+                ],
+                [
+                    -0.6735960020306354,
+                    -0.08300302617877173,
+                    -0.7344242123551697
+                ]
+            ],
+            "translation_vector": [
+                0.5104539851892629,
+                0.01108179230337907,
+                0.6424669361791046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424671877485436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605529023479296,
+                    -0.9543027794240133,
+                    -0.1360911008173729
+                ],
+                [
+                    -0.6895670946661965,
+                    -0.2870678687951719,
+                    0.6648979325122163
+                ],
+                [
+                    -0.6735813273033202,
+                    -0.08305566741049127,
+                    -0.7344317201886753
+                ]
+            ],
+            "translation_vector": [
+                0.510457597182652,
+                0.011081792341822674,
+                0.6424687392307596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605887796279126,
+                    -0.9543023370206358,
+                    -0.1360871890154787
+                ],
+                [
+                    -0.6895670946281014,
+                    -0.2870678688200631,
+                    0.6648979325409781
+                ],
+                [
+                    -0.6735799102284311,
+                    -0.08306075034612342,
+                    -0.7344324450135623
+                ]
+            ],
+            "translation_vector": [
+                0.5104580103915031,
+                0.01108179234585812,
+                0.642468839879678
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605887796279126,
+                    -0.9543023370206358,
+                    -0.1360871890154787
+                ],
+                [
+                    -0.6895670946281014,
+                    -0.2870678688200631,
+                    0.6648979325409781
+                ],
+                [
+                    -0.6735799102284311,
+                    -0.08306075034612342,
+                    -0.7344324450135623
+                ]
+            ],
+            "translation_vector": [
+                0.5104580103915031,
+                0.01108179234585812,
+                0.642468839879678
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605285697311315,
+                    -0.9543030794529272,
+                    -0.13609375387248732
+                ],
+                [
+                    -0.6895670946875925,
+                    -0.28706786878301577,
+                    0.6648979324952745
+                ],
+                [
+                    -0.6735822883809802,
+                    -0.08305222007290461,
+                    -0.7344312285846816
+                ]
+            ],
+            "translation_vector": [
+                0.5104576506414054,
+                0.011081792340760201,
+                0.6424683287087356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660350425120815,
+                    -0.9543052756514768,
+                    -0.1361131772436288
+                ],
+                [
+                    -0.689567094890069,
+                    -0.2870678686452403,
+                    0.6648979323447701
+                ],
+                [
+                    -0.6735893242922332,
+                    -0.08302698148938985,
+                    -0.7344276292081439
+                ]
+            ],
+            "translation_vector": [
+                0.5104545977915546,
+                0.011081792315699576,
+                0.6424689320691391
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424675479444353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424675479444353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.64246801041259
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424671877485436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602710322545686,
+                    -0.9543062541927269,
+                    -0.13612183350998497
+                ],
+                [
+                    -0.6895670949566057,
+                    -0.2870678686090587,
+                    0.664897932291386
+                ],
+                [
+                    -0.6735924598023505,
+                    -0.08301573357442628,
+                    -0.7344260249177721
+                ]
+            ],
+            "translation_vector": [
+                0.5104550182242635,
+                0.011081792313467531,
+                0.6424671877485436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602223661819596,
+                    -0.9543068539495873,
+                    -0.1361271395772905
+                ],
+                [
+                    -0.6895670949993978,
+                    -0.28706786858474426,
+                    0.6648979322575039
+                ],
+                [
+                    -0.6735943817452351,
+                    -0.08300883887306515,
+                    -0.734425041478163
+                ]
+            ],
+            "translation_vector": [
+                0.5104551251341869,
+                0.011081792311342651,
+                0.6424664430213233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660104429980057,
+                    -0.9543083071819136,
+                    -0.13613999801526586
+                ],
+                [
+                    -0.6895670951423818,
+                    -0.287067868484011,
+                    0.6648979321527065
+                ],
+                [
+                    -0.673599039127064,
+                    -0.08299213051632297,
+                    -0.7344226581196003
+                ]
+            ],
+            "translation_vector": [
+                0.5104524320267871,
+                0.01108179229138016,
+                0.6424674813049804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660104429980057,
+                    -0.9543083071819136,
+                    -0.13613999801526586
+                ],
+                [
+                    -0.6895670951423818,
+                    -0.287067868484011,
+                    0.6648979321527065
+                ],
+                [
+                    -0.673599039127064,
+                    -0.08299213051632297,
+                    -0.7344226581196003
+                ]
+            ],
+            "translation_vector": [
+                0.5104524320267871,
+                0.01108179229138016,
+                0.6424674813049804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602466992356233,
+                    -0.9543065540773835,
+                    -0.136124486544526
+                ],
+                [
+                    -0.6895670949780018,
+                    -0.28706786859690175,
+                    0.6648979322744448
+                ],
+                [
+                    -0.6735934207781876,
+                    -0.08301228622428744,
+                    -0.7344255332027597
+                ]
+            ],
+            "translation_vector": [
+                0.5104550716795109,
+                0.011081792312405081,
+                0.6424668535315583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660318455008401,
+                    -0.9543056697056792,
+                    -0.1361166630027829
+                ],
+                [
+                    -0.689567094901812,
+                    -0.2870678686466877,
+                    0.6648979323319664
+                ],
+                [
+                    -0.673590586935487,
+                    -0.08302245213340778,
+                    -0.7344269831873439
+                ]
+            ],
+            "translation_vector": [
+                0.5104558981058266,
+                0.011081792320475896,
+                0.6424670547940282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660318455008401,
+                    -0.9543056697056792,
+                    -0.1361166630027829
+                ],
+                [
+                    -0.689567094901812,
+                    -0.2870678686466877,
+                    0.6648979323319664
+                ],
+                [
+                    -0.673590586935487,
+                    -0.08302245213340778,
+                    -0.7344269831873439
+                ]
+            ],
+            "translation_vector": [
+                0.5104558981058266,
+                0.011081792320475896,
+                0.6424670547940282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605042370796145,
+                    -0.9543033794693884,
+                    -0.1360964069258261
+                ],
+                [
+                    -0.6895670947089888,
+                    -0.28706786877085944,
+                    0.664897932478333
+                ],
+                [
+                    -0.6735832494498509,
+                    -0.08304877273423372,
+                    -0.7344307369711038
+                ]
+            ],
+            "translation_vector": [
+                0.5104577040995874,
+                0.011081792339697734,
+                0.6424679944813521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604260881015357,
+                    -0.9543043429450724,
+                    -0.13610492766120777
+                ],
+                [
+                    -0.6895670947875274,
+                    -0.28706786872136525,
+                    0.6648979324182496
+                ],
+                [
+                    -0.6735863360281132,
+                    -0.08303770097942273,
+                    -0.7344291580079559
+                ]
+            ],
+            "translation_vector": [
+                0.5104571377412801,
+                0.011081792332582137,
+                0.6424673567042398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604260881015357,
+                    -0.9543043429450724,
+                    -0.13610492766120777
+                ],
+                [
+                    -0.6895670947875274,
+                    -0.28706786872136525,
+                    0.6648979324182496
+                ],
+                [
+                    -0.6735863360281132,
+                    -0.08303770097942273,
+                    -0.7344291580079559
+                ]
+            ],
+            "translation_vector": [
+                0.5104571377412801,
+                0.011081792332582137,
+                0.6424673567042398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603543327815843,
+                    -0.9543052274792171,
+                    -0.1361127512261193
+                ],
+                [
+                    -0.6895670948637174,
+                    -0.2870678686715805,
+                    0.6648979323607273
+                ],
+                [
+                    -0.6735891699854721,
+                    -0.08302753508443479,
+                    -0.7344277081483834
+                ]
+            ],
+            "translation_vector": [
+                0.5104563113181804,
+                0.011081792324511295,
+                0.6424671554285645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660329999881478,
+                    -0.9543055274065055,
+                    -0.1361154042667405
+                ],
+                [
+                    -0.6895670948851133,
+                    -0.2870678686594236,
+                    0.6648979323437857
+                ],
+                [
+                    -0.6735901309914006,
+                    -0.08302408773800483,
+                    -0.7344272164661795
+                ]
+            ],
+            "translation_vector": [
+                0.5104563647739471,
+                0.011081792323448835,
+                0.6424667449138515
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660329999881478,
+                    -0.9543055274065055,
+                    -0.1361154042667405
+                ],
+                [
+                    -0.6895670948851133,
+                    -0.2870678686594236,
+                    0.6648979323437857
+                ],
+                [
+                    -0.6735901309914006,
+                    -0.08302408773800483,
+                    -0.7344272164661795
+                ]
+            ],
+            "translation_vector": [
+                0.5104563647739471,
+                0.011081792323448835,
+                0.6424667449138515
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.6424674912847003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660103186784447,
+                    -0.9543083224959104,
+                    -0.13614013358167093
+                ],
+                [
+                    -0.6895670951303805,
+                    -0.2870678684973262,
+                    0.6648979321594042
+                ],
+                [
+                    -0.6735990882342722,
+                    -0.08299195437778724,
+                    -0.7344226329835662
+                ]
+            ],
+            "translation_vector": [
+                0.5104534188204478,
+                0.011081792296263607,
+                0.6424664510330294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660103186784447,
+                    -0.9543083224959104,
+                    -0.13614013358167093
+                ],
+                [
+                    -0.6895670951303805,
+                    -0.2870678684973262,
+                    0.6648979321594042
+                ],
+                [
+                    -0.6735990882342722,
+                    -0.08299195437778724,
+                    -0.7344226329835662
+                ]
+            ],
+            "translation_vector": [
+                0.5104534188204478,
+                0.011081792296263607,
+                0.6424664510330294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660139065010441,
+                    -0.9543078804318883,
+                    -0.13613622182817772
+                ],
+                [
+                    -0.6895670950922855,
+                    -0.28706786852222055,
+                    0.6648979321881638
+                ],
+                [
+                    -0.6735976713989155,
+                    -0.08299703734294427,
+                    -0.7344233580696172
+                ]
+            ],
+            "translation_vector": [
+                0.5104538320360175,
+                0.011081792300298963,
+                0.6424665516543603
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602351543061586,
+                    -0.9543066963563304,
+                    -0.13612574527768326
+                ],
+                [
+                    -0.6895670949947006,
+                    -0.28706786858416544,
+                    0.6648979322626255
+                ],
+                [
+                    -0.6735938767079969,
+                    -0.08301065061793057,
+                    -0.7344252999083578
+                ]
+            ],
+            "translation_vector": [
+                0.5104546050106652,
+                0.01108179230943214,
+                0.6424671634130625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602351543061586,
+                    -0.9543066963563304,
+                    -0.13612574527768326
+                ],
+                [
+                    -0.6895670949947006,
+                    -0.28706786858416544,
+                    0.6648979322626255
+                ],
+                [
+                    -0.6735938767079969,
+                    -0.08301065061793057,
+                    -0.7344252999083578
+                ]
+            ],
+            "translation_vector": [
+                0.5104546050106652,
+                0.01108179230943214,
+                0.6424671634130625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602941220571086,
+                    -0.9543059696146063,
+                    -0.13611931604078537
+                ],
+                [
+                    -0.6895670949232082,
+                    -0.2870678686345307,
+                    0.664897932315025
+                ],
+                [
+                    -0.6735915479284552,
+                    -0.08301900478538018,
+                    -0.7344264914910096
+                ]
+            ],
+            "translation_vector": [
+                0.5104559515612297,
+                0.01108179231941343,
+                0.6424666442808078
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660241548364668,
+                    -0.9543066175584122,
+                    -0.13612504812769544
+                ],
+                [
+                    -0.6895670949923518,
+                    -0.2870678685838761,
+                    0.6648979322651863
+                ],
+                [
+                    -0.6735936241884671,
+                    -0.08301155649025159,
+                    -0.7344254291224626
+                ]
+            ],
+            "translation_vector": [
+                0.5104543449483915,
+                0.011081792308476888,
+                0.6424675236085621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660241548364668,
+                    -0.9543066175584122,
+                    -0.13612504812769544
+                ],
+                [
+                    -0.6895670949923518,
+                    -0.2870678685838761,
+                    0.6648979322651863
+                ],
+                [
+                    -0.6735936241884671,
+                    -0.08301155649025159,
+                    -0.7344254291224626
+                ]
+            ],
+            "translation_vector": [
+                0.5104543449483915,
+                0.011081792308476888,
+                0.6424675236085621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660276183116623,
+                    -0.9543061907085039,
+                    -0.13612127192635987
+                ],
+                [
+                    -0.6895670949422558,
+                    -0.2870678686220843,
+                    0.6648979323006444
+                ],
+                [
+                    -0.6735922563898161,
+                    -0.08301646330818441,
+                    -0.7344261289956113
+                ]
+            ],
+            "translation_vector": [
+                0.5104557449546699,
+                0.011081792317395712,
+                0.6424665939651113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660163398182938,
+                    -0.9543075806023171,
+                    -0.13613356880149413
+                ],
+                [
+                    -0.6895670950708899,
+                    -0.2870678685343779,
+                    0.6648979322051047
+                ],
+                [
+                    -0.67359671046196,
+                    -0.08300048469787459,
+                    -0.7344238498270229
+                ]
+            ],
+            "translation_vector": [
+                0.5104537785818607,
+                0.011081792301361375,
+                0.6424669621608128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660163398182938,
+                    -0.9543075806023171,
+                    -0.13613356880149413
+                ],
+                [
+                    -0.6895670950708899,
+                    -0.2870678685343779,
+                    0.6648979322051047
+                ],
+                [
+                    -0.67359671046196,
+                    -0.08300048469787459,
+                    -0.7344238498270229
+                ]
+            ],
+            "translation_vector": [
+                0.5104537785818607,
+                0.011081792301361375,
+                0.6424669621608128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602953652388045,
+                    -0.9543059542956166,
+                    -0.1361191804736679
+                ],
+                [
+                    -0.6895670949352097,
+                    -0.287067868621216,
+                    0.664897932308327
+                ],
+                [
+                    -0.6735914988177228,
+                    -0.083019180923482,
+                    -0.7344265166232012
+                ]
+            ],
+            "translation_vector": [
+                0.5104549647684447,
+                0.01108179231452996,
+                0.6424676745541152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602287602452607,
+                    -0.9543067751533887,
+                    -0.13612644242754823
+                ],
+                [
+                    -0.6895670949970493,
+                    -0.287067868584455,
+                    0.6648979322600646
+                ],
+                [
+                    -0.6735941292269193,
+                    -0.08300974474553528,
+                    -0.7344251706935914
+                ]
+            ],
+            "translation_vector": [
+                0.510454865072597,
+                0.011081792310387386,
+                0.6424668032173164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602287602452607,
+                    -0.9543067751533887,
+                    -0.13612644242754823
+                ],
+                [
+                    -0.6895670949970493,
+                    -0.287067868584455,
+                    0.6648979322600646
+                ],
+                [
+                    -0.6735941292269193,
+                    -0.08300974474553528,
+                    -0.7344251706935914
+                ]
+            ],
+            "translation_vector": [
+                0.510454865072597,
+                0.011081792310387386,
+                0.6424668032173164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602530932897994,
+                    -0.9543064752779128,
+                    -0.13612378939431666
+                ],
+                [
+                    -0.6895670949756532,
+                    -0.28706786859661204,
+                    0.6648979322770056
+                ],
+                [
+                    -0.6735931682575622,
+                    -0.08301319209647293,
+                    -0.7344256624156694
+                ]
+            ],
+            "translation_vector": [
+                0.5104548116175314,
+                0.01108179231144982,
+                0.6424672137275006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660336393904426,
+                    -0.9543054485958322,
+                    -0.1361147071149335
+                ],
+                [
+                    -0.6895670948827646,
+                    -0.287067868659134,
+                    0.6648979323463466
+                ],
+                [
+                    -0.6735898784628681,
+                    -0.08302499360921586,
+                    -0.7344273456704681
+                ]
+            ],
+            "translation_vector": [
+                0.5104561047120705,
+                0.011081792322493586,
+                0.6424671051110212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660336393904426,
+                    -0.9543054485958322,
+                    -0.1361147071149335
+                ],
+                [
+                    -0.6895670948827646,
+                    -0.287067868659134,
+                    0.6648979323463466
+                ],
+                [
+                    -0.6735898784628681,
+                    -0.08302499360921586,
+                    -0.7344273456704681
+                ]
+            ],
+            "translation_vector": [
+                0.5104561047120705,
+                0.011081792322493586,
+                0.6424671051110212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603069101275073,
+                    -0.9543058120020497,
+                    -0.1361179217384254
+                ],
+                [
+                    -0.6895670949185109,
+                    -0.2870678686339518,
+                    0.6648979323201465
+                ],
+                [
+                    -0.6735910428775942,
+                    -0.0830208165285666,
+                    -0.7344267499063514
+                ]
+            ],
+            "translation_vector": [
+                0.5104554314373259,
+                0.011081792317502918,
+                0.6424673646741161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660318455008401,
+                    -0.9543056697056792,
+                    -0.1361166630027829
+                ],
+                [
+                    -0.689567094901812,
+                    -0.2870678686466877,
+                    0.6648979323319664
+                ],
+                [
+                    -0.673590586935487,
+                    -0.08302245213340778,
+                    -0.7344269831873439
+                ]
+            ],
+            "translation_vector": [
+                0.5104558981058266,
+                0.011081792320475896,
+                0.6424670547940282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660336393904426,
+                    -0.9543054485958322,
+                    -0.1361147071149335
+                ],
+                [
+                    -0.6895670948827646,
+                    -0.287067868659134,
+                    0.6648979323463466
+                ],
+                [
+                    -0.6735898784628681,
+                    -0.08302499360921586,
+                    -0.7344273456704681
+                ]
+            ],
+            "translation_vector": [
+                0.5104561047120705,
+                0.011081792322493586,
+                0.6424671814049665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424683123131264
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603543327815843,
+                    -0.9543052274792171,
+                    -0.1361127512261193
+                ],
+                [
+                    -0.6895670948637174,
+                    -0.2870678686715805,
+                    0.6648979323607273
+                ],
+                [
+                    -0.6735891699854721,
+                    -0.08302753508443479,
+                    -0.7344277081483834
+                ]
+            ],
+            "translation_vector": [
+                0.5104563113181804,
+                0.011081792324511295,
+                0.6424671554285645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603543327815843,
+                    -0.9543052274792171,
+                    -0.1361127512261193
+                ],
+                [
+                    -0.6895670948637174,
+                    -0.2870678686715805,
+                    0.6648979323607273
+                ],
+                [
+                    -0.6735891699854721,
+                    -0.08302753508443479,
+                    -0.7344277081483834
+                ]
+            ],
+            "translation_vector": [
+                0.5104563113181804,
+                0.011081792324511295,
+                0.6424671554285645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424675416018895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424679017985655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424674653079442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424678498470963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.642467749210675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424677995286106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424679521165011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604285744455936,
+                    -0.9543043123001584,
+                    -0.13610465652598353
+                ],
+                [
+                    -0.6895670948115303,
+                    -0.2870678686947357,
+                    0.6648979324048527
+                ],
+                [
+                    -0.6735862378017535,
+                    -0.08303805325502298,
+                    -0.7344292082670024
+                ]
+            ],
+            "translation_vector": [
+                0.5104551641506998,
+                0.011081792322815137,
+                0.6424694172466667
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605310560602485,
+                    -0.954303048802654,
+                    -0.13609348273649866
+                ],
+                [
+                    -0.6895670947115958,
+                    -0.2870678687563866,
+                    0.6648979324818778
+                ],
+                [
+                    -0.673582190150838,
+                    -0.08305257234803856,
+                    -0.7344312788396036
+                ]
+            ],
+            "translation_vector": [
+                0.5104556770468202,
+                0.011081792330993172,
+                0.6424703892477969
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605310560602485,
+                    -0.954303048802654,
+                    -0.13609348273649866
+                ],
+                [
+                    -0.6895670947115958,
+                    -0.2870678687563866,
+                    0.6648979324818778
+                ],
+                [
+                    -0.673582190150838,
+                    -0.08305257234803856,
+                    -0.7344312788396036
+                ]
+            ],
+            "translation_vector": [
+                0.5104556770468202,
+                0.011081792330993172,
+                0.6424703892477969
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660350425120815,
+                    -0.9543052756514768,
+                    -0.1361131772436288
+                ],
+                [
+                    -0.689567094890069,
+                    -0.2870678686452403,
+                    0.6648979323447701
+                ],
+                [
+                    -0.6735893242922332,
+                    -0.08302698148938985,
+                    -0.7344276292081439
+                ]
+            ],
+            "translation_vector": [
+                0.5104545977915546,
+                0.011081792315699576,
+                0.6424688557751939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604157864664196,
+                    -0.954304469945439,
+                    -0.13610605083301083
+                ],
+                [
+                    -0.6895670948162279,
+                    -0.287067868695315,
+                    0.6648979323997313
+                ],
+                [
+                    -0.6735867428757124,
+                    -0.08303624151468365,
+                    -0.7344289498768448
+                ]
+            ],
+            "translation_vector": [
+                0.5104556842785002,
+                0.011081792324725654,
+                0.6424687731478111
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604157864664196,
+                    -0.954304469945439,
+                    -0.13610605083301083
+                ],
+                [
+                    -0.6895670948162279,
+                    -0.287067868695315,
+                    0.6648979323997313
+                ],
+                [
+                    -0.6735867428757124,
+                    -0.08303624151468365,
+                    -0.7344289498768448
+                ]
+            ],
+            "translation_vector": [
+                0.5104556842785002,
+                0.011081792324725654,
+                0.6424687731478111
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605592962873115,
+                    -0.9543027005833632,
+                    -0.13609040366129066
+                ],
+                [
+                    -0.6895670946638478,
+                    -0.28706786879488233,
+                    0.6648979325147771
+                ],
+                [
+                    -0.6735810747536285,
+                    -0.08305657327909391,
+                    -0.734431849369894
+                ]
+            ],
+            "translation_vector": [
+                0.5104573371188825,
+                0.011081792340867409,
+                0.6424690994290994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605413576257425,
+                    -0.9543029217773118,
+                    -0.13609235956113389
+                ],
+                [
+                    -0.6895670946828952,
+                    -0.2870678687824367,
+                    0.664897932500396
+                ],
+                [
+                    -0.6735817832856096,
+                    -0.08305403181060424,
+                    -0.7344314869514939
+                ]
+            ],
+            "translation_vector": [
+                0.5104571305143037,
+                0.011081792338849672,
+                0.6424690491052694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605413576257425,
+                    -0.9543029217773118,
+                    -0.13609235956113389
+                ],
+                [
+                    -0.6895670946828952,
+                    -0.2870678687824367,
+                    0.664897932500396
+                ],
+                [
+                    -0.6735817832856096,
+                    -0.08305403181060424,
+                    -0.7344314869514939
+                ]
+            ],
+            "translation_vector": [
+                0.5104571305143037,
+                0.011081792338849672,
+                0.6424690491052694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604401192441307,
+                    -0.9543041699742459,
+                    -0.13610339778612787
+                ],
+                [
+                    -0.6895670947948315,
+                    -0.2870678687074715,
+                    0.6648979324166727
+                ],
+                [
+                    -0.6735857818387944,
+                    -0.08303968885729339,
+                    -0.73442944152526
+                ]
+            ],
+            "translation_vector": [
+                0.51045563082024,
+                0.011081792325788126,
+                0.6424691073705643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604106356465257,
+                    -0.9543045334447857,
+                    -0.1361066124187932
+                ],
+                [
+                    -0.6895670948305781,
+                    -0.2870678686822898,
+                    0.6648979323904722
+                ],
+                [
+                    -0.6735869462989218,
+                    -0.08303551178224096,
+                    -0.7344288458106448
+                ]
+            ],
+            "translation_vector": [
+                0.5104549575451445,
+                0.011081792320797423,
+                0.6424693669268462
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604106356465257,
+                    -0.9543045334447857,
+                    -0.1361066124187932
+                ],
+                [
+                    -0.6895670948305781,
+                    -0.2870678686822898,
+                    0.6648979323904722
+                ],
+                [
+                    -0.6735869462989218,
+                    -0.08303551178224096,
+                    -0.7344288458106448
+                ]
+            ],
+            "translation_vector": [
+                0.5104549575451445,
+                0.011081792320797423,
+                0.6424693669268462
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603863028267444,
+                    -0.9543048334008893,
+                    -0.13610926546352423
+                ],
+                [
+                    -0.6895670948519739,
+                    -0.28706786867013284,
+                    0.664897932373531
+                ],
+                [
+                    -0.6735879073251896,
+                    -0.08303206443831805,
+                    -0.7344283541506166
+                ]
+            ],
+            "translation_vector": [
+                0.5104550110034308,
+                0.01108179231973499,
+                0.6424689564116914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2659918643554067,
+                    -0.9543105958559617,
+                    -0.1361602538693839
+                ],
+                [
+                    -0.6895670953352023,
+                    -0.28706786835982523,
+                    0.6648979320063482
+                ],
+                [
+                    -0.6736063755099917,
+                    -0.08296580977960814,
+                    -0.7344189031335636
+                ]
+            ],
+            "translation_vector": [
+                0.5104506260027486,
+                0.011081792272158749,
+                0.6424666180392367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2659918643554067,
+                    -0.9543105958559617,
+                    -0.1361602538693839
+                ],
+                [
+                    -0.6895670953352023,
+                    -0.28706786835982523,
+                    0.6648979320063482
+                ],
+                [
+                    -0.6736063755099917,
+                    -0.08296580977960814,
+                    -0.7344189031335636
+                ]
+            ],
+            "translation_vector": [
+                0.5104506260027486,
+                0.011081792272158749,
+                0.6424666180392367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26597033702846123,
+                    -0.9543132468360175,
+                    -0.13618372419002797
+                ],
+                [
+                    -0.6895670955637676,
+                    -0.2870678682104474,
+                    0.6648979318337959
+                ],
+                [
+                    -0.6736148755310539,
+                    -0.0829353118665868,
+                    -0.7344145515367156
+                ]
+            ],
+            "translation_vector": [
+                0.5104481466815385,
+                0.011081792247946991,
+                0.642466014425395
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26592497244121366,
+                    -0.954318829954323,
+                    -0.1362331818124817
+                ],
+                [
+                    -0.6895670960542892,
+                    -0.2870678678861878,
+                    0.6648979314650735
+                ],
+                [
+                    -0.6736327850330591,
+                    -0.0828710445324007,
+                    -0.7344053791379216
+                ]
+            ],
+            "translation_vector": [
+                0.5104422546325224,
+                0.011081792193578712,
+                0.6424654272355151
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26592497244121366,
+                    -0.954318829954323,
+                    -0.1362331818124817
+                ],
+                [
+                    -0.6895670960542892,
+                    -0.2870678678861878,
+                    0.6648979314650735
+                ],
+                [
+                    -0.6736327850330591,
+                    -0.0828710445324007,
+                    -0.7344053791379216
+                ]
+            ],
+            "translation_vector": [
+                0.5104422546325224,
+                0.011081792193578712,
+                0.6424654272355151
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660233732990554,
+                    -0.9543067138840717,
+                    -0.13612590016002452
+                ],
+                [
+                    -0.6895670950450544,
+                    -0.2870678685311945,
+                    0.6648979322332733
+                ],
+                [
+                    -0.6735939327886777,
+                    -0.08301044929852085,
+                    -0.7344252712274688
+                ]
+            ],
+            "translation_vector": [
+                0.5104509178801464,
+                0.011081792290853496,
+                0.6424709242890992
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266056302577413,
+                    -0.9543026546054937,
+                    -0.13608999695695662
+                ],
+                [
+                    -0.6895670946998524,
+                    -0.2870678687549386,
+                    0.6648979324946815
+                ],
+                [
+                    -0.6735809274066787,
+                    -0.08305710169158093,
+                    -0.7344319247503838
+                ]
+            ],
+            "translation_vector": [
+                0.5104543767167221,
+                0.011081792326216816,
+                0.6424721902279134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266056302577413,
+                    -0.9543026546054937,
+                    -0.13608999695695662
+                ],
+                [
+                    -0.6895670946998524,
+                    -0.2870678687549386,
+                    0.6648979324946815
+                ],
+                [
+                    -0.6735809274066787,
+                    -0.08305710169158093,
+                    -0.7344319247503838
+                ]
+            ],
+            "translation_vector": [
+                0.5104543767167221,
+                0.011081792326216816,
+                0.6424721902279134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603285785737707,
+                    -0.9543055449370813,
+                    -0.13611555914948645
+                ],
+                [
+                    -0.6895670949354676,
+                    -0.28706786860645345,
+                    0.6648979323144327
+                ],
+                [
+                    -0.6735901870740822,
+                    -0.08302388641884124,
+                    -0.7344271877874722
+                ]
+            ],
+            "translation_vector": [
+                0.5104526776506317,
+                0.011081792304870157,
+                0.6424705057966265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603106396695264,
+                    -0.95430576604398,
+                    -0.1361175150369151
+                ],
+                [
+                    -0.6895670949545152,
+                    -0.28706786859400707,
+                    0.6648979323000525
+                ],
+                [
+                    -0.6735908955446198,
+                    -0.08302134494277677,
+                    -0.7344268253020791
+                ]
+            ],
+            "translation_vector": [
+                0.5104524710443294,
+                0.011081792302852451,
+                0.6424704554798731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603106396695264,
+                    -0.95430576604398,
+                    -0.1361175150369151
+                ],
+                [
+                    -0.6895670949545152,
+                    -0.28706786859400707,
+                    0.6648979323000525
+                ],
+                [
+                    -0.6735908955446198,
+                    -0.08302134494277677,
+                    -0.7344268253020791
+                ]
+            ],
+            "translation_vector": [
+                0.5104524710443294,
+                0.011081792302852451,
+                0.6424704554798731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660244034735629,
+                    -0.9543065869231497,
+                    -0.13612477699384773
+                ],
+                [
+                    -0.6895670950163546,
+                    -0.28706786855724603,
+                    0.6648979322517903
+                ],
+                [
+                    -0.67359352596892,
+                    -0.0830119087666914,
+                    -0.7344254793889368
+                ]
+            ],
+            "translation_vector": [
+                0.5104523713541035,
+                0.011081792298709921,
+                0.6424695841464032
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266030548881788,
+                    -0.9543058295319354,
+                    -0.13611807662107264
+                ],
+                [
+                    -0.689567094968865,
+                    -0.2870678685809815,
+                    0.6648979322907939
+                ],
+                [
+                    -0.673591098959789,
+                    -0.08302061520934328,
+                    -0.7344267212271127
+                ]
+            ],
+            "translation_vector": [
+                0.5104517443068495,
+                0.011081792298924236,
+                0.6424711255499784
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266030548881788,
+                    -0.9543058295319354,
+                    -0.13611807662107264
+                ],
+                [
+                    -0.689567094968865,
+                    -0.2870678685809815,
+                    0.6648979322907939
+                ],
+                [
+                    -0.673591098959789,
+                    -0.08302061520934328,
+                    -0.7344267212271127
+                ]
+            ],
+            "translation_vector": [
+                0.5104517443068495,
+                0.011081792298924236,
+                0.6424711255499784
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660286306707084,
+                    -0.9543060659489074,
+                    -0.1361201680743474
+                ],
+                [
+                    -0.6895670949759111,
+                    -0.2870678685818499,
+                    0.6648979322831116
+                ],
+                [
+                    -0.6735918565347655,
+                    -0.08301789759440105,
+                    -0.7344263336026662
+                ]
+            ],
+            "translation_vector": [
+                0.5104525245029021,
+                0.011081792301790044,
+                0.6424700449701455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602504287908063,
+                    -0.9543065081240374,
+                    -0.1361240798436895
+                ],
+                [
+                    -0.689567095014006,
+                    -0.2870678685569565,
+                    0.6648979322543512
+                ],
+                [
+                    -0.6735932734485476,
+                    -0.08301281463890825,
+                    -0.7344256086021225
+                ]
+            ],
+            "translation_vector": [
+                0.510452111289532,
+                0.011081792297754658,
+                0.6424699443397821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602504287908063,
+                    -0.9543065081240374,
+                    -0.1361240798436895
+                ],
+                [
+                    -0.689567095014006,
+                    -0.2870678685569565,
+                    0.6648979322543512
+                ],
+                [
+                    -0.6735932734485476,
+                    -0.08301281463890825,
+                    -0.7344256086021225
+                ]
+            ],
+            "translation_vector": [
+                0.510452111289532,
+                0.011081792297754658,
+                0.6424699443397821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603337294184437,
+                    -0.9543054814466245,
+                    -0.1361149975649723
+                ],
+                [
+                    -0.6895670949211177,
+                    -0.2870678686194791,
+                    0.6648979323236915
+                ],
+                [
+                    -0.6735899836571478,
+                    -0.08302461615205692,
+                    -0.7344272918605134
+                ]
+            ],
+            "translation_vector": [
+                0.5104534043867627,
+                0.01108179230879838,
+                0.6424699120194027
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603516682984046,
+                    -0.9543052603310146,
+                    -0.1361130416763013
+                ],
+                [
+                    -0.6895670949020704,
+                    -0.2870678686319255,
+                    0.6648979323380722
+                ],
+                [
+                    -0.6735892751804615,
+                    -0.08302715762736355,
+                    -0.7344276543392023
+                ]
+            ],
+            "translation_vector": [
+                0.5104536109928924,
+                0.011081792310816088,
+                0.6424699623368644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603516682984046,
+                    -0.9543052603310146,
+                    -0.1361130416763013
+                ],
+                [
+                    -0.6895670949020704,
+                    -0.2870678686319255,
+                    0.6648979323380722
+                ],
+                [
+                    -0.6735892751804615,
+                    -0.08302715762736355,
+                    -0.7344276543392023
+                ]
+            ],
+            "translation_vector": [
+                0.5104536109928924,
+                0.011081792310816088,
+                0.6424699623368644
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603696071594984,
+                    -0.9543050392086361,
+                    -0.1361110857866646
+                ],
+                [
+                    -0.689567094883023,
+                    -0.2870678686443719,
+                    0.6648979323524523
+                ],
+                [
+                    -0.6735885666989971,
+                    -0.08302969910208134,
+                    -0.7344280168126824
+                ]
+            ],
+            "translation_vector": [
+                0.5104538175988883,
+                0.011081792312833771,
+                0.6424698600669855
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266038115199795,
+                    -0.9543048968970419,
+                    -0.13610982704885116
+                ],
+                [
+                    -0.6895670948663242,
+                    -0.28706786865710787,
+                    0.6648979323642722
+                ],
+                [
+                    -0.6735881107461443,
+                    -0.08303133470559775,
+                    -0.7344282500819589
+                ]
+            ],
+            "translation_vector": [
+                0.5104542842693619,
+                0.011081792315806768,
+                0.6424697027782431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266038115199795,
+                    -0.9543048968970419,
+                    -0.13610982704885116
+                ],
+                [
+                    -0.6895670948663242,
+                    -0.28706786865710787,
+                    0.6648979323642722
+                ],
+                [
+                    -0.6735881107461443,
+                    -0.08303133470559775,
+                    -0.7344282500819589
+                ]
+            ],
+            "translation_vector": [
+                0.5104542842693619,
+                0.011081792315806768,
+                0.6424697027782431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266038115199795,
+                    -0.9543048968970419,
+                    -0.13610982704885116
+                ],
+                [
+                    -0.6895670948663242,
+                    -0.28706786865710787,
+                    0.6648979323642722
+                ],
+                [
+                    -0.6735881107461443,
+                    -0.08303133470559775,
+                    -0.7344282500819589
+                ]
+            ],
+            "translation_vector": [
+                0.5104542842693619,
+                0.011081792315806768,
+                0.642469626484298
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266038115199795,
+                    -0.9543048968970419,
+                    -0.13610982704885116
+                ],
+                [
+                    -0.6895670948663242,
+                    -0.28706786865710787,
+                    0.6648979323642722
+                ],
+                [
+                    -0.6735881107461443,
+                    -0.08303133470559775,
+                    -0.7344282500819589
+                ]
+            ],
+            "translation_vector": [
+                0.5104542842693619,
+                0.011081792315806768,
+                0.642469626484298
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266038115199795,
+                    -0.9543048968970419,
+                    -0.13610982704885116
+                ],
+                [
+                    -0.6895670948663242,
+                    -0.28706786865710787,
+                    0.6648979323642722
+                ],
+                [
+                    -0.6735881107461443,
+                    -0.08303133470559775,
+                    -0.7344282500819589
+                ]
+            ],
+            "translation_vector": [
+                0.5104542842693619,
+                0.011081792315806768,
+                0.642469626484298
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660374757991779,
+                    -0.9543049757137344,
+                    -0.13611052420151654
+                ],
+                [
+                    -0.689567094868673,
+                    -0.2870678686573972,
+                    0.6648979323617112
+                ],
+                [
+                    -0.6735883632789256,
+                    -0.08303042883491027,
+                    -0.7344281208823027
+                ]
+            ],
+            "translation_vector": [
+                0.5104545443336318,
+                0.011081792316762009,
+                0.6424693425828014
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660832103374424,
+                    -0.9542993358629545,
+                    -0.13606065834048436
+                ],
+                [
+                    -0.6895670944141393,
+                    -0.2870678689416185,
+                    0.6648979327103978
+                ],
+                [
+                    -0.6735702988387804,
+                    -0.08309522364638873,
+                    -0.7344373603850737
+                ]
+            ],
+            "translation_vector": [
+                0.5104574757689017,
+                0.011081792356482817,
+                0.6424729451531053
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660832103374424,
+                    -0.9542993358629545,
+                    -0.13606065834048436
+                ],
+                [
+                    -0.6895670944141393,
+                    -0.2870678689416185,
+                    0.6648979327103978
+                ],
+                [
+                    -0.6735702988387804,
+                    -0.08309522364638873,
+                    -0.7344373603850737
+                ]
+            ],
+            "translation_vector": [
+                0.5104574757689017,
+                0.011081792356482817,
+                0.6424729451531053
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26615291990794093,
+                    -0.9542907307079348,
+                    -0.1359846480651184
+                ],
+                [
+                    -0.6895670936472671,
+                    -0.2870678694535485,
+                    0.6648979332846979
+                ],
+                [
+                    -0.6735427577988942,
+                    -0.08319398783756753,
+                    -0.7344514373356105
+                ]
+            ],
+            "translation_vector": [
+                0.510467506768777,
+                0.011081792444943771,
+                0.642472848004166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2659853280303455,
+                    -0.9543114008785716,
+                    -0.1361673801825119
+                ],
+                [
+                    -0.6895670954090424,
+                    -0.2870678683097445,
+                    0.664897931951391
+                ],
+                [
+                    -0.6736089564441134,
+                    -0.08295654969487552,
+                    -0.7344175819389097
+                ]
+            ],
+            "translation_vector": [
+                0.5104495395029237,
+                0.01108179226313288,
+                0.6424667770167566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2659853280303455,
+                    -0.9543114008785716,
+                    -0.1361673801825119
+                ],
+                [
+                    -0.6895670954090424,
+                    -0.2870678683097445,
+                    0.664897931951391
+                ],
+                [
+                    -0.6736089564441134,
+                    -0.08295654969487552,
+                    -0.7344175819389097
+                ]
+            ],
+            "translation_vector": [
+                0.5104495395029237,
+                0.01108179226313288,
+                0.6424667770167566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660536206843774,
+                    -0.9543029852902618,
+                    -0.13609292114885613
+                ],
+                [
+                    -0.6895670946972456,
+                    -0.28706786876941176,
+                    0.6648979324911367
+                ],
+                [
+                    -0.6735819867184206,
+                    -0.08305330207934546,
+                    -0.7344313828957635
+                ]
+            ],
+            "translation_vector": [
+                0.5104564037812174,
+                0.011081792334921419,
+                0.6424697954710893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660301759274735,
+                    -0.9543058754896011,
+                    -0.13611848332252552
+                ],
+                [
+                    -0.6895670949328612,
+                    -0.28706786862092654,
+                    0.6648979323108878
+                ],
+                [
+                    -0.6735912462924779,
+                    -0.0830200867950977,
+                    -0.7344266458310744
+                ]
+            ],
+            "translation_vector": [
+                0.5104547047056858,
+                0.0110817923135747,
+                0.6424681110439012
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660301759274735,
+                    -0.9543058754896011,
+                    -0.13611848332252552
+                ],
+                [
+                    -0.6895670949328612,
+                    -0.28706786862092654,
+                    0.6648979323108878
+                ],
+                [
+                    -0.6735912462924779,
+                    -0.0830200867950977,
+                    -0.7344266458310744
+                ]
+            ],
+            "translation_vector": [
+                0.5104547047056858,
+                0.0110817923135747,
+                0.6424681110439012
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660451664034856,
+                    -0.95430402764553,
+                    -0.1361021390458724
+                ],
+                [
+                    -0.6895670947781328,
+                    -0.2870678687202074,
+                    0.6648979324284924
+                ],
+                [
+                    -0.6735853258738558,
+                    -0.08304132445932012,
+                    -0.7344296747813602
+                ]
+            ],
+            "translation_vector": [
+                0.5104560974893999,
+                0.011081792328761083,
+                0.6424687212004275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660451664034856,
+                    -0.95430402764553,
+                    -0.1361021390458724
+                ],
+                [
+                    -0.6895670947781328,
+                    -0.2870678687202074,
+                    0.6648979324284924
+                ],
+                [
+                    -0.6735853258738558,
+                    -0.08304132445932012,
+                    -0.7344296747813602
+                ]
+            ],
+            "translation_vector": [
+                0.5104560974893999,
+                0.011081792328761083,
+                0.6424687212004275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604696027907704,
+                    -0.9543038064854233,
+                    -0.13610018315085495
+                ],
+                [
+                    -0.6895670947590854,
+                    -0.28706786873265305,
+                    0.6648979324428733
+                ],
+                [
+                    -0.6735846173657616,
+                    -0.08304386593075505,
+                    -0.7344300372258047
+                ]
+            ],
+            "translation_vector": [
+                0.5104563040946487,
+                0.011081792330778809,
+                0.6424688478154517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660194125397004,
+                    -0.9543072019687514,
+                    -0.13613021862395638
+                ],
+                [
+                    -0.6895670950471451,
+                    -0.28706786854624605,
+                    0.6648979322246064
+                ],
+                [
+                    -0.6735954970011865,
+                    -0.08300483792459702,
+                    -0.7344244707938569
+                ]
+            ],
+            "translation_vector": [
+                0.51045346506466,
+                0.011081792301468557,
+                0.6424677328626249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660194125397004,
+                    -0.9543072019687514,
+                    -0.13613021862395638
+                ],
+                [
+                    -0.6895670950471451,
+                    -0.28706786854624605,
+                    0.6648979322246064
+                ],
+                [
+                    -0.6735954970011865,
+                    -0.08300483792459702,
+                    -0.7344244707938569
+                ]
+            ],
+            "translation_vector": [
+                0.51045346506466,
+                0.011081792301468557,
+                0.6424677328626249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660128763201968,
+                    -0.954308007370067,
+                    -0.13613734499111066
+                ],
+                [
+                    -0.6895670951209857,
+                    -0.2870678684961689,
+                    0.6648979321696468
+                ],
+                [
+                    -0.6735980782026195,
+                    -0.08299557787279516,
+                    -0.7344231498906469
+                ]
+            ],
+            "translation_vector": [
+                0.5104523785720065,
+                0.01108179229244255,
+                0.6424679681029871
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26599493712090266,
+                    -0.9543102173805711,
+                    -0.13615690371441094
+                ],
+                [
+                    -0.6895670953114579,
+                    -0.2870678683716947,
+                    0.6648979320258492
+                ],
+                [
+                    -0.6736051621608664,
+                    -0.08297016302008571,
+                    -0.7344195242221263
+                ]
+            ],
+            "translation_vector": [
+                0.5104503124880293,
+                0.011081792272265889,
+                0.6424673887275565
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26599493712090266,
+                    -0.9543102173805711,
+                    -0.13615690371441094
+                ],
+                [
+                    -0.6895670953114579,
+                    -0.2870678683716947,
+                    0.6648979320258492
+                ],
+                [
+                    -0.6736051621608664,
+                    -0.08297016302008571,
+                    -0.7344195242221263
+                ]
+            ],
+            "translation_vector": [
+                0.5104503124880293,
+                0.011081792272265889,
+                0.6424673887275565
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26600031890049947,
+                    -0.9543095544484879,
+                    -0.13615103610755933
+                ],
+                [
+                    -0.6895670952543163,
+                    -0.2870678684090372,
+                    0.6648979320689883
+                ],
+                [
+                    -0.6736030370235561,
+                    -0.08297778748207832,
+                    -0.7344206119773746
+                ]
+            ],
+            "translation_vector": [
+                0.5104509323146292,
+                0.01108179227831888,
+                0.6424675396462246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.265991224937452,
+                    -0.9543106746104552,
+                    -0.13616095101317693
+                ],
+                [
+                    -0.6895670953375511,
+                    -0.28706786836011455,
+                    0.6648979320037874
+                ],
+                [
+                    -0.6736066279988696,
+                    -0.08296490390351115,
+                    -0.7344187738860402
+                ]
+            ],
+            "translation_vector": [
+                0.5104508860641628,
+                0.011081792273114002,
+                0.642466181553322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660062157557862,
+                    -0.9543088279944527,
+                    -0.13614460691169983
+                ],
+                [
+                    -0.689567095182825,
+                    -0.28706786845940596,
+                    0.6648979321213858
+                ],
+                [
+                    -0.6736007084470803,
+                    -0.08298614167454908,
+                    -0.7344218037814269
+                ]
+            ],
+            "translation_vector": [
+                0.5104522788728381,
+                0.011081792288300052,
+                0.6424670967864283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660062157557862,
+                    -0.9543088279944527,
+                    -0.13614460691169983
+                ],
+                [
+                    -0.689567095182825,
+                    -0.28706786845940596,
+                    0.6648979321213858
+                ],
+                [
+                    -0.6736007084470803,
+                    -0.08298614167454908,
+                    -0.7344218037814269
+                ]
+            ],
+            "translation_vector": [
+                0.5104522788728381,
+                0.011081792288300052,
+                0.6424670967864283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660169792268343,
+                    -0.9543075018140487,
+                    -0.13613287165288285
+                ],
+                [
+                    -0.6895670950685411,
+                    -0.2870678685340886,
+                    0.6648979322076656
+                ],
+                [
+                    -0.6735964579492418,
+                    -0.08300139057103463,
+                    -0.7344239790485539
+                ]
+            ],
+            "translation_vector": [
+                0.510453518519778,
+                0.011081792300406132,
+                0.6424673223555277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660420937284755,
+                    -0.9543044064455346,
+                    -0.1361054892471492
+                ],
+                [
+                    -0.6895670948018775,
+                    -0.28706786870834006,
+                    0.6648979324089901
+                ],
+                [
+                    -0.6735865394521097,
+                    -0.08303697124707733,
+                    -0.7344290539426148
+                ]
+            ],
+            "translation_vector": [
+                0.5104564110105454,
+                0.011081792328653892,
+                0.6424680267796637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266063620149822,
+                    -0.9543017522166599,
+                    -0.13608201846307819
+                ],
+                [
+                    -0.6895670945733073,
+                    -0.2870678688576892,
+                    0.6648979325815602
+                ],
+                [
+                    -0.6735780371378658,
+                    -0.08306746887752621,
+                    -0.7344334030392289
+                ]
+            ],
+            "translation_vector": [
+                0.5104588902674407,
+                0.01108179235286657,
+                0.6424686306576153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266063620149822,
+                    -0.9543017522166599,
+                    -0.13608201846307819
+                ],
+                [
+                    -0.6895670945733073,
+                    -0.2870678688576892,
+                    0.6648979325815602
+                ],
+                [
+                    -0.6735780371378658,
+                    -0.08306746887752621,
+                    -0.7344334030392289
+                ]
+            ],
+            "translation_vector": [
+                0.5104588902674407,
+                0.01108179235286657,
+                0.6424686306576153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660474753592854,
+                    -0.9543037429796886,
+                    -0.13609962156416186
+                ],
+                [
+                    -0.6895670947447352,
+                    -0.28706786874567825,
+                    0.664897932452132
+                ],
+                [
+                    -0.6735844139380432,
+                    -0.08304459566264145,
+                    -0.7344301412870883
+                ]
+            ],
+            "translation_vector": [
+                0.5104570308265785,
+                0.011081792334707028,
+                0.6424681777417236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604388760729897,
+                    -0.9543041852970211,
+                    -0.13610353335378542
+                ],
+                [
+                    -0.6895670947828303,
+                    -0.2870678687207862,
+                    0.6648979324233709
+                ],
+                [
+                    -0.6735858309521984,
+                    -0.08303951271952098,
+                    -0.7344294163959816
+                ]
+            ],
+            "translation_vector": [
+                0.5104566176160238,
+                0.011081792330671608,
+                0.6424680770998001
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424678498470963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424677751872351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424680024349868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424673890139989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603427879249786,
+                    -0.954305369784299,
+                    -0.13611400996300427
+                ],
+                [
+                    -0.6895670948804162,
+                    -0.28706786865884476,
+                    0.6648979323489075
+                ],
+                [
+                    -0.6735896259337285,
+                    -0.0830258994803518,
+                    -0.7344274748740952
+                ]
+            ],
+            "translation_vector": [
+                0.5104558446498522,
+                0.011081792321538324,
+                0.6424673890139989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660474753592854,
+                    -0.9543037429796886,
+                    -0.13609962156416186
+                ],
+                [
+                    -0.6895670947447352,
+                    -0.28706786874567825,
+                    0.664897932452132
+                ],
+                [
+                    -0.6735844139380432,
+                    -0.08304459566264145,
+                    -0.7344301412870883
+                ]
+            ],
+            "translation_vector": [
+                0.5104570308265785,
+                0.011081792334707028,
+                0.6424681014477782
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603786656469747,
+                    -0.9543049275394752,
+                    -0.1361100981837215
+                ],
+                [
+                    -0.6895670948423211,
+                    -0.2870678686837371,
+                    0.6648979323776684
+                ],
+                [
+                    -0.6735882089707528,
+                    -0.0830309824297815,
+                    -0.7344281998210035
+                ]
+            ],
+            "translation_vector": [
+                0.5104562578618426,
+                0.011081792325573731,
+                0.6424675659439731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603786656469747,
+                    -0.9543049275394752,
+                    -0.1361100981837215
+                ],
+                [
+                    -0.6895670948423211,
+                    -0.2870678686837371,
+                    0.6648979323776684
+                ],
+                [
+                    -0.6735882089707528,
+                    -0.0830309824297815,
+                    -0.7344281998210035
+                ]
+            ],
+            "translation_vector": [
+                0.5104562578618426,
+                0.011081792325573731,
+                0.6424675659439731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.642467749210675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603248490356773,
+                    -0.9543055908965585,
+                    -0.13611596585119728
+                ],
+                [
+                    -0.6895670948994637,
+                    -0.2870678686463982,
+                    0.664897932334527
+                ],
+                [
+                    -0.67359033440805,
+                    -0.08302335800475377,
+                    -0.7344271123928278
+                ]
+            ],
+            "translation_vector": [
+                0.510455638043656,
+                0.011081792319520615,
+                0.642467414990755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424682116774134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424682116774134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602594873415786,
+                    -0.9543063964775818,
+                    -0.1361230922439848
+                ],
+                [
+                    -0.6895670949733043,
+                    -0.28706786859632255,
+                    0.6648979322795665
+                ],
+                [
+                    -0.6735929157363297,
+                    -0.08301409796858382,
+                    -0.7344257916279172
+                ]
+            ],
+            "translation_vector": [
+                0.5104545515552099,
+                0.011081792310494581,
+                0.6424675739231962
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424681613603822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424681613603822
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603440311031273,
+                    -0.954305354464037,
+                    -0.13611387439570483
+                ],
+                [
+                    -0.6895670948924177,
+                    -0.28706786864552986,
+                    0.6648979323422095
+                ],
+                [
+                    -0.6735895768220977,
+                    -0.08302607561834316,
+                    -0.7344275000053074
+                ]
+            ],
+            "translation_vector": [
+                0.5104548578550928,
+                0.011081792316654845,
+                0.6424684955794543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424684696032865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424684696032865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685199216144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685199216144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603619699722525,
+                    -0.95430513334454,
+                    -0.13611191850647933
+                ],
+                [
+                    -0.6895670948733703,
+                    -0.28706786865797623,
+                    0.6648979323565897
+                ],
+                [
+                    -0.6735888683426673,
+                    -0.08302861709331158,
+                    -0.7344278624810051
+                ]
+            ],
+            "translation_vector": [
+                0.5104550644611456,
+                0.011081792318672526,
+                0.6424685458972318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603799088225105,
+                    -0.9543049122182746,
+                    -0.1361099626162884
+                ],
+                [
+                    -0.6895670948543227,
+                    -0.2870678686704226,
+                    0.66489793237097
+                ],
+                [
+                    -0.6735881598584598,
+                    -0.08303115856769115,
+                    -0.7344282249514937
+                ]
+            ],
+            "translation_vector": [
+                0.5104552710670646,
+                0.011081792320690235,
+                0.6424685962155596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424676485764547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424677995286106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604568148423563,
+                    -0.9543039641417389,
+                    -0.13610157745945642
+                ],
+                [
+                    -0.6895670947637828,
+                    -0.2870678687332324,
+                    0.6648979324377513
+                ],
+                [
+                    -0.6735851224475093,
+                    -0.08304205419137564,
+                    -0.7344297788441395
+                ]
+            ],
+            "translation_vector": [
+                0.5104568242213682,
+                0.011081792332689307,
+                0.6424681274204868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603786656469747,
+                    -0.9543049275394752,
+                    -0.1361100981837215
+                ],
+                [
+                    -0.6895670948423211,
+                    -0.2870678686837371,
+                    0.6648979323776684
+                ],
+                [
+                    -0.6735882089707528,
+                    -0.0830309824297815,
+                    -0.7344281998210035
+                ]
+            ],
+            "translation_vector": [
+                0.5104562578618426,
+                0.011081792325573731,
+                0.6424675659439731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603786656469747,
+                    -0.9543049275394752,
+                    -0.1361100981837215
+                ],
+                [
+                    -0.6895670948423211,
+                    -0.2870678686837371,
+                    0.6648979323776684
+                ],
+                [
+                    -0.6735882089707528,
+                    -0.0830309824297815,
+                    -0.7344281998210035
+                ]
+            ],
+            "translation_vector": [
+                0.5104562578618426,
+                0.011081792325573731,
+                0.6424675659439731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603069101275073,
+                    -0.9543058120020497,
+                    -0.1361179217384254
+                ],
+                [
+                    -0.6895670949185109,
+                    -0.2870678686339518,
+                    0.6648979323201465
+                ],
+                [
+                    -0.6735910428775942,
+                    -0.0830208165285666,
+                    -0.7344267499063514
+                ]
+            ],
+            "translation_vector": [
+                0.5104554314373259,
+                0.011081792317502918,
+                0.6424673646741161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675919196288
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675919196288
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266036072679541,
+                    -0.9543051486652714,
+                    -0.1361120540738455
+                ],
+                [
+                    -0.6895670948613687,
+                    -0.2870678686712909,
+                    0.6648979323632881
+                ],
+                [
+                    -0.6735889174546295,
+                    -0.08302844095536109,
+                    -0.7344278373501538
+                ]
+            ],
+            "translation_vector": [
+                0.5104560512559144,
+                0.011081792323556034,
+                0.6424675156256836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603966044796734,
+                    -0.9543047064069106,
+                    -0.1361081422926324
+                ],
+                [
+                    -0.6895670948232738,
+                    -0.2870678686961835,
+                    0.6648979323920488
+                ],
+                [
+                    -0.6735875004820988,
+                    -0.08303352390361292,
+                    -0.7344285622866444
+                ]
+            ],
+            "translation_vector": [
+                0.5104564644676367,
+                0.01108179232759143,
+                0.642467616262813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603966044796734,
+                    -0.9543047064069106,
+                    -0.1361081422926324
+                ],
+                [
+                    -0.6895670948232738,
+                    -0.2870678686961835,
+                    0.6648979323920488
+                ],
+                [
+                    -0.6735875004820988,
+                    -0.08303352390361292,
+                    -0.7344285622866444
+                ]
+            ],
+            "translation_vector": [
+                0.5104564644676367,
+                0.01108179232759143,
+                0.642467616262813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604260881015357,
+                    -0.9543043429450724,
+                    -0.13610492766120777
+                ],
+                [
+                    -0.6895670947875274,
+                    -0.28706786872136525,
+                    0.6648979324182496
+                ],
+                [
+                    -0.6735863360281132,
+                    -0.08303770097942273,
+                    -0.7344291580079559
+                ]
+            ],
+            "translation_vector": [
+                0.5104571377412801,
+                0.011081792332582137,
+                0.6424673567042398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604260881015357,
+                    -0.9543043429450724,
+                    -0.13610492766120777
+                ],
+                [
+                    -0.6895670947875274,
+                    -0.28706786872136525,
+                    0.6648979324182496
+                ],
+                [
+                    -0.6735863360281132,
+                    -0.08303770097942273,
+                    -0.7344291580079559
+                ]
+            ],
+            "translation_vector": [
+                0.5104571377412801,
+                0.011081792332582137,
+                0.6424673567042398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424678514811802
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602594873415786,
+                    -0.9543063964775818,
+                    -0.1361230922439848
+                ],
+                [
+                    -0.6895670949733043,
+                    -0.28706786859632255,
+                    0.6648979322795665
+                ],
+                [
+                    -0.6735929157363297,
+                    -0.08301409796858382,
+                    -0.7344257916279172
+                ]
+            ],
+            "translation_vector": [
+                0.5104545515552099,
+                0.011081792310494581,
+                0.6424674976292508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602594873415786,
+                    -0.9543063964775818,
+                    -0.1361230922439848
+                ],
+                [
+                    -0.6895670949733043,
+                    -0.28706786859632255,
+                    0.6648979322795665
+                ],
+                [
+                    -0.6735929157363297,
+                    -0.08301409796858382,
+                    -0.7344257916279172
+                ]
+            ],
+            "translation_vector": [
+                0.5104545515552099,
+                0.011081792310494581,
+                0.6424674976292508
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602889712004696,
+                    -0.9543060331007722,
+                    -0.13611987762468777
+                ],
+                [
+                    -0.6895670949375581,
+                    -0.287067868621505,
+                    0.6648979323057661
+                ],
+                [
+                    -0.6735917513423608,
+                    -0.08301827505179082,
+                    -0.7344263874146659
+                ]
+            ],
+            "translation_vector": [
+                0.5104552248308617,
+                0.011081792315485223,
+                0.6424673143580274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602594873415786,
+                    -0.9543063964775818,
+                    -0.1361230922439848
+                ],
+                [
+                    -0.6895670949733043,
+                    -0.28706786859632255,
+                    0.6648979322795665
+                ],
+                [
+                    -0.6735929157363297,
+                    -0.08301409796858382,
+                    -0.7344257916279172
+                ]
+            ],
+            "translation_vector": [
+                0.5104545515552099,
+                0.011081792310494581,
+                0.6424675739231962
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660326092215133,
+                    -0.9543055755767653,
+                    -0.13611583028396518
+                ],
+                [
+                    -0.6895670949114651,
+                    -0.2870678686330835,
+                    0.6648979323278289
+                ],
+                [
+                    -0.6735902852967504,
+                    -0.08302353414278572,
+                    -0.7344271375244009
+                ]
+            ],
+            "translation_vector": [
+                0.5104546512489059,
+                0.01108179231463714,
+                0.642468445262227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603133041591154,
+                    -0.9543057331944815,
+                    -0.1361172245870612
+                ],
+                [
+                    -0.6895670949161624,
+                    -0.28706786863366246,
+                    0.6648979323227073
+                ],
+                [
+                    -0.6735907903512532,
+                    -0.08302172240004797,
+                    -0.7344268791130297
+                ]
+            ],
+            "translation_vector": [
+                0.5104551713748611,
+                0.011081792316547656,
+                0.6424677248704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602774262996254,
+                    -0.9543061753899835,
+                    -0.13612113635930903
+                ],
+                [
+                    -0.689567094954257,
+                    -0.28706786860876926,
+                    0.6648979322939468
+                ],
+                [
+                    -0.673592207279415,
+                    -0.08301663944632735,
+                    -0.7344261541281637
+                ]
+            ],
+            "translation_vector": [
+                0.5104547581618943,
+                0.011081792312512271,
+                0.6424676242383807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424682619949948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424682116774134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424682116774134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.642468135383468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660349181943132,
+                    -0.954305290971906,
+                    -0.1361133128109517
+                ],
+                [
+                    -0.6895670948780673,
+                    -0.287067868658555,
+                    0.6648979323514682
+                ],
+                [
+                    -0.6735893734039818,
+                    -0.08302680535141316,
+                    -0.7344276040770599
+                ]
+            ],
+            "translation_vector": [
+                0.5104555845872919,
+                0.01108179232058307,
+                0.6424678255046203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424681597252357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660367120806843,
+                    -0.9543050698504656,
+                    -0.13611135692144913
+                ],
+                [
+                    -0.68956709485902,
+                    -0.28706786867100165,
+                    0.6648979323658488
+                ],
+                [
+                    -0.6735886649231797,
+                    -0.08302934682621284,
+                    -0.7344279665512622
+                ]
+            ],
+            "translation_vector": [
+                0.5104557911933063,
+                0.011081792322600781,
+                0.6424678758225559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.6424681597252357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603978476539,
+                    -0.9543046910852411,
+                    -0.13610800672513218
+                ],
+                [
+                    -0.6895670948352752,
+                    -0.28706786868286877,
+                    0.6648979323853507
+                ],
+                [
+                    -0.6735874513694751,
+                    -0.08303370004148196,
+                    -0.7344285874167737
+                ]
+            ],
+            "translation_vector": [
+                0.5104554776728494,
+                0.011081792322707958,
+                0.6424686465344376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603786656469747,
+                    -0.9543049275394752,
+                    -0.1361100981837215
+                ],
+                [
+                    -0.6895670948423211,
+                    -0.2870678686837371,
+                    0.6648979323776684
+                ],
+                [
+                    -0.6735882089707528,
+                    -0.0830309824297815,
+                    -0.7344281998210035
+                ]
+            ],
+            "translation_vector": [
+                0.5104562578618426,
+                0.011081792325573731,
+                0.6424674896500279
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603786656469747,
+                    -0.9543049275394752,
+                    -0.1361100981837215
+                ],
+                [
+                    -0.6895670948423211,
+                    -0.2870678686837371,
+                    0.6648979323776684
+                ],
+                [
+                    -0.6735882089707528,
+                    -0.0830309824297815,
+                    -0.7344281998210035
+                ]
+            ],
+            "translation_vector": [
+                0.5104562578618426,
+                0.011081792325573731,
+                0.6424674896500279
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603376370830406,
+                    -0.9543054332757372,
+                    -0.1361145715476587
+                ],
+                [
+                    -0.6895670948947662,
+                    -0.28706786864581946,
+                    0.6648979323396483
+                ],
+                [
+                    -0.6735898293513555,
+                    -0.08302516974722103,
+                    -0.7344273708018093
+                ]
+            ],
+            "translation_vector": [
+                0.5104551179182891,
+                0.011081792317610095,
+                0.6424682116774134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660510631037241,
+                    -0.9543033006352827,
+                    -0.13609570977067734
+                ],
+                [
+                    -0.6895670947066401,
+                    -0.28706786877057,
+                    0.6648979324808936
+                ],
+                [
+                    -0.6735829969047786,
+                    -0.08304967860340594,
+                    -0.7344308661573594
+                ]
+            ],
+            "translation_vector": [
+                0.5104574440365971,
+                0.011081792338742473,
+                0.6424683546797931
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660536206843774,
+                    -0.9543029852902618,
+                    -0.13609292114885613
+                ],
+                [
+                    -0.6895670946972456,
+                    -0.28706786876941176,
+                    0.6648979324911367
+                ],
+                [
+                    -0.6735819867184206,
+                    -0.08305330207934546,
+                    -0.7344313828957635
+                ]
+            ],
+            "translation_vector": [
+                0.5104564037812174,
+                0.011081792334921419,
+                0.6424697191771439
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660536206843774,
+                    -0.9543029852902618,
+                    -0.13609292114885613
+                ],
+                [
+                    -0.6895670946972456,
+                    -0.28706786876941176,
+                    0.6648979324911367
+                ],
+                [
+                    -0.6735819867184206,
+                    -0.08305330207934546,
+                    -0.7344313828957635
+                ]
+            ],
+            "translation_vector": [
+                0.5104564037812174,
+                0.011081792334921419,
+                0.6424697191771439
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660479904393383,
+                    -0.9543036794733961,
+                    -0.13609905997738916
+                ],
+                [
+                    -0.689567094730385,
+                    -0.2870678687587033,
+                    0.6648979324613915
+                ],
+                [
+                    -0.6735842105099313,
+                    -0.08304532539447942,
+                    -0.7344302453479423
+                ]
+            ],
+            "translation_vector": [
+                0.5104577575571977,
+                0.011081792338635281,
+                0.6424674313728282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266057208415888,
+                    -0.9543025428994829,
+                    -0.13608900934875845
+                ],
+                [
+                    -0.6895670946591506,
+                    -0.2870678687943031,
+                    0.6648979325198987
+                ],
+                [
+                    -0.6735805696524241,
+                    -0.0830583850160744,
+                    -0.7344321077303458
+                ]
+            ],
+            "translation_vector": [
+                0.5104568169903179,
+                0.011081792338956878,
+                0.6424698198250381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.266057208415888,
+                    -0.9543025428994829,
+                    -0.13608900934875845
+                ],
+                [
+                    -0.6895670946591506,
+                    -0.2870678687943031,
+                    0.6648979325198987
+                ],
+                [
+                    -0.6735805696524241,
+                    -0.0830583850160744,
+                    -0.7344321077303458
+                ]
+            ],
+            "translation_vector": [
+                0.5104568169903179,
+                0.011081792338956878,
+                0.6424698198250381
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26605529023479296,
+                    -0.9543027794240133,
+                    -0.1360911008173729
+                ],
+                [
+                    -0.6895670946661965,
+                    -0.2870678687951719,
+                    0.6648979325122163
+                ],
+                [
+                    -0.6735813273033202,
+                    -0.08305566741049127,
+                    -0.7344317201886753
+                ]
+            ],
+            "translation_vector": [
+                0.510457597182652,
+                0.011081792341822674,
+                0.6424687392307596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424679341186447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660308153308273,
+                    -0.9543057966827255,
+                    -0.13611778617126002
+                ],
+                [
+                    -0.6895670949305124,
+                    -0.287067868620637,
+                    0.6648979323134483
+                ],
+                [
+                    -0.6735909937666255,
+                    -0.08302099266663943,
+                    -0.7344267750382857
+                ]
+            ],
+            "translation_vector": [
+                0.510454444642585,
+                0.01108179231261943,
+                0.6424683186516047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660037824240937,
+                    -0.9543091277722117,
+                    -0.13614725993099208
+                ],
+                [
+                    -0.6895670952042209,
+                    -0.28706786844724763,
+                    0.6648979321044454
+                ],
+                [
+                    -0.6736016693474638,
+                    -0.08298269431511268,
+                    -0.7344213119841472
+                ]
+            ],
+            "translation_vector": [
+                0.5104523323262942,
+                0.011081792287237647,
+                0.6424666099905594
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660037824240937,
+                    -0.9543091277722117,
+                    -0.13614725993099208
+                ],
+                [
+                    -0.6895670952042209,
+                    -0.28706786844724763,
+                    0.6648979321044454
+                ],
+                [
+                    -0.6736016693474638,
+                    -0.08298269431511268,
+                    -0.7344213119841472
+                ]
+            ],
+            "translation_vector": [
+                0.5104523323262942,
+                0.011081792287237647,
+                0.6424666099905594
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602902143825435,
+                    -0.9543060177819173,
+                    -0.13611974205758945
+                ],
+                [
+                    -0.6895670949495597,
+                    -0.2870678686081905,
+                    0.664897932299068
+                ],
+                [
+                    -0.6735917022317235,
+                    -0.08301845118990453,
+                    -0.7344264125469614
+                ]
+            ],
+            "translation_vector": [
+                0.5104542380361301,
+                0.011081792310601735,
+                0.642468344629423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424678578246994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602658813909624,
+                    -0.9543063176763914,
+                    -0.13612239509353075
+                ],
+                [
+                    -0.6895670949709557,
+                    -0.2870678685960334,
+                    0.6648979322821272
+                ],
+                [
+                    -0.6735926632144906,
+                    -0.08301500384061945,
+                    -0.7344259208395039
+                ]
+            ],
+            "translation_vector": [
+                0.5104542914925466,
+                0.011081792309539325,
+                0.6424678578246994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26602479424207737,
+                    -0.9543065387596339,
+                    -0.13612435097758507
+                ],
+                [
+                    -0.6895670949900032,
+                    -0.2870678685835866,
+                    0.664897932267747
+                ],
+                [
+                    -0.6735933716683307,
+                    -0.08301246236249717,
+                    -0.7344255583359056
+                ]
+            ],
+            "translation_vector": [
+                0.5104540848857759,
+                0.01108179230752162,
+                0.6424678838038144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660283820342283,
+                    -0.9543060965863802,
+                    -0.13612043920851066
+                ],
+                [
+                    -0.6895670949519084,
+                    -0.28706786860847994,
+                    0.6648979322965075
+                ],
+                [
+                    -0.6735919547558729,
+                    -0.0830175453181532,
+                    -0.7344262833378934
+                ]
+            ],
+            "translation_vector": [
+                0.5104544980991832,
+                0.011081792311557013,
+                0.6424679844340252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660301759274735,
+                    -0.9543058754896011,
+                    -0.13611848332252552
+                ],
+                [
+                    -0.6895670949328612,
+                    -0.28706786862092654,
+                    0.6648979323108878
+                ],
+                [
+                    -0.6735912462924779,
+                    -0.0830200867950977,
+                    -0.7344266458310744
+                ]
+            ],
+            "translation_vector": [
+                0.5104547047056858,
+                0.0110817923135747,
+                0.6424680347499558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660301759274735,
+                    -0.9543058754896011,
+                    -0.13611848332252552
+                ],
+                [
+                    -0.6895670949328612,
+                    -0.28706786862092654,
+                    0.6648979323108878
+                ],
+                [
+                    -0.6735912462924779,
+                    -0.0830200867950977,
+                    -0.7344266458310744
+                ]
+            ],
+            "translation_vector": [
+                0.5104547047056858,
+                0.0110817923135747,
+                0.6424680347499558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660301759274735,
+                    -0.9543058754896011,
+                    -0.13611848332252552
+                ],
+                [
+                    -0.6895670949328612,
+                    -0.28706786862092654,
+                    0.6648979323108878
+                ],
+                [
+                    -0.6735912462924779,
+                    -0.0830200867950977,
+                    -0.7344266458310744
+                ]
+            ],
+            "translation_vector": [
+                0.5104547047056858,
+                0.0110817923135747,
+                0.6424680347499558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660319698188322,
+                    -0.9543056543860533,
+                    -0.1361165274355747
+                ],
+                [
+                    -0.6895670949138136,
+                    -0.28706786863337297,
+                    0.6648979323252683
+                ],
+                [
+                    -0.6735905378243053,
+                    -0.0830226282714541,
+                    -0.7344270083190461
+                ]
+            ],
+            "translation_vector": [
+                0.5104549113120544,
+                0.01108179231559241,
+                0.6424680850664368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603735148158725,
+                    -0.9543049910348003,
+                    -0.1361106597689302
+                ],
+                [
+                    -0.6895670948566714,
+                    -0.287067868670712,
+                    0.6648979323684093
+                ],
+                [
+                    -0.6735884123911232,
+                    -0.08303025269698916,
+                    -0.734428095751709
+                ]
+            ],
+            "translation_vector": [
+                0.5104555311303564,
+                0.011081792321645504,
+                0.642468236019181
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604093924732336,
+                    -0.9543045487667895,
+                    -0.13610674798634084
+                ],
+                [
+                    -0.6895670948185765,
+                    -0.28706786869560447,
+                    0.6648979323971703
+                ],
+                [
+                    -0.6735869954117817,
+                    -0.08303533564440134,
+                    -0.7344288206807731
+                ]
+            ],
+            "translation_vector": [
+                0.5104559443418876,
+                0.011081792325680918,
+                0.642468336657095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26603312430605586,
+                    -0.954305512086578,
+                    -0.1361152686994892
+                ],
+                [
+                    -0.689567094897115,
+                    -0.2870678686461089,
+                    0.6648979323370877
+                ],
+                [
+                    -0.6735900818800061,
+                    -0.08302426387602496,
+                    -0.7344272415976495
+                ]
+            ],
+            "translation_vector": [
+                0.5104553779811435,
+                0.011081792318565353,
+                0.6424676988932897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660355575958889,
+                    -0.9543052121586532,
+                    -0.13611261565877708
+                ],
+                [
+                    -0.6895670948757189,
+                    -0.28706786865826567,
+                    0.664897932354029
+                ],
+                [
+                    -0.6735891208736282,
+                    -0.08302771122239958,
+                    -0.7344277332793635
+                ]
+            ],
+            "translation_vector": [
+                0.5104553245243898,
+                0.011081792319627802,
+                0.6424681857010495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604568148423563,
+                    -0.9543039641417389,
+                    -0.13610157745945642
+                ],
+                [
+                    -0.6895670947637828,
+                    -0.2870678687332324,
+                    0.6648979324377513
+                ],
+                [
+                    -0.6735851224475093,
+                    -0.08304205419137564,
+                    -0.7344297788441395
+                ]
+            ],
+            "translation_vector": [
+                0.5104568242213682,
+                0.011081792332689307,
+                0.6424681274204868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604568148423563,
+                    -0.9543039641417389,
+                    -0.13610157745945642
+                ],
+                [
+                    -0.6895670947637828,
+                    -0.2870678687332324,
+                    0.6648979324377513
+                ],
+                [
+                    -0.6735851224475093,
+                    -0.08304205419137564,
+                    -0.7344297788441395
+                ]
+            ],
+            "translation_vector": [
+                0.5104568242213682,
+                0.011081792332689307,
+                0.6424681274204868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424679764600776
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.26604029984776517,
+                    -0.9543046275872799,
+                    -0.13610744513954784
+                ],
+                [
+                    -0.6895670948209249,
+                    -0.28706786869589396,
+                    0.6648979323946095
+                ],
+                [
+                    -0.6735872479472437,
+                    -0.08303442977404463,
+                    -0.7344286914840396
+                ]
+            ],
+            "translation_vector": [
+                0.510456204404933,
+                0.01108179232663618,
+                0.6424680527540227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682100439176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424678498470963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660385059651682,
+                    -0.9543048487222572,
+                    -0.13610940103098118
+                ],
+                [
+                    -0.6895670948399726,
+                    -0.28706786868344786,
+                    0.6648979323802293
+                ],
+                [
+                    -0.6735879564376006,
+                    -0.08303188830042316,
+                    -0.7344283290202553
+                ]
+            ],
+            "translation_vector": [
+                0.5104559977991867,
+                0.011081792324618487,
+                0.6424679261410416
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.2660391453653987,
+                    -0.9543047699041791,
+                    -0.1361087038781181
+                ],
+                [
+                    -0.689567094837624,
+                    -0.28706786868315826,
+                    0.66489793238279
+                ],
+                [
+                    -0.6735877039038413,
+                    -0.08303279417098974,
+                    -0.7344284582188453
+                ]
+            ],
+            "translation_vector": [
+                0.510455737736189,
+                0.01108179232366322,
+                0.6424682863378629
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_left_fisheye_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0ee56c43c558efacb6d0023f4fdb1b86257cde
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.745,
+        "fv": 236.7855,
+        "pu": 482.4945,
+        "pv": 386.446,
+        "distortion_model": "equidistant",
+        "k1": 0.102424,
+        "k2": -0.0509376,
+        "k3": 0.0156047,
+        "k4": -0.00212971
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5ad0de127ab231d6abd9fb4a19b27eef770b5
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.7162115926458754,
+                0.3526354463833131,
+                -0.6022368275966693
+            ],
+            [
+                0.07905351886720882,
+                -0.898387816949699,
+                -0.4320299428408483
+            ],
+            [
+                -0.6933913005759235,
+                0.2618159130198092,
+                -0.6713128421051051
+            ]
+        ],
+        "translation_vector": [
+            -0.07464191374027791,
+            -0.03977433061946449,
+            -0.07599999426711856
+        ]
+    }
+}
diff --git a/parameters/1957/1237171/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237171/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6d65efcaf76e5d37dcecf38f00338de5ab93e3
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,15836 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310120451590632,
+                    -0.9632499600220787,
+                    -0.1370509011604515
+                ],
+                [
+                    -0.6933893989502193,
+                    0.2618074882635518,
+                    -0.671318091900244
+                ],
+                [
+                    0.6825280773820817,
+                    -0.06005292338092387,
+                    -0.7283879941202522
+                ]
+            ],
+            "translation_vector": [
+                0.4870565355755942,
+                -0.07599896234074362,
+                0.6355904889347035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310120451590632,
+                    -0.9632499600220787,
+                    -0.1370509011604515
+                ],
+                [
+                    -0.6933893989502193,
+                    0.2618074882635518,
+                    -0.671318091900244
+                ],
+                [
+                    0.6825280773820817,
+                    -0.06005292338092387,
+                    -0.7283879941202522
+                ]
+            ],
+            "translation_vector": [
+                0.4870565355755942,
+                -0.07599896234074362,
+                0.6355904889347035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355903809774588
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105073779386628,
+                    -0.9632465540971277,
+                    -0.1370096076372759
+                ],
+                [
+                    -0.6933893993573551,
+                    0.26180748797507725,
+                    -0.671318091592225
+                ],
+                [
+                    0.6825149796332363,
+                    -0.060107530810956274,
+                    -0.7283957628350495
+                ]
+            ],
+            "translation_vector": [
+                0.4870619909936978,
+                -0.07599896229882264,
+                0.6355895491453865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355896090788428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355896090788428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101789407595522,
+                    -0.9632494453781406,
+                    -0.13704465912766073
+                ],
+                [
+                    -0.6933893990319326,
+                    0.2618074881970354,
+                    -0.6713180918417855
+                ],
+                [
+                    0.6825260976159424,
+                    -0.06006117799931341,
+                    -0.7283891686251855
+                ]
+            ],
+            "translation_vector": [
+                0.48705892786727173,
+                -0.07599896232698321,
+                0.6355888153140328
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101789407595522,
+                    -0.9632494453781406,
+                    -0.13704465912766073
+                ],
+                [
+                    -0.6933893990319326,
+                    0.2618074881970354,
+                    -0.6713180918417855
+                ],
+                [
+                    0.6825260976159424,
+                    -0.06006117799931341,
+                    -0.7283891686251855
+                ]
+            ],
+            "translation_vector": [
+                0.48705892786727173,
+                -0.07599896232698321,
+                0.6355888153140328
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101737217904694,
+                    -0.9632494913009162,
+                    -0.13704521611502937
+                ],
+                [
+                    -0.6933893990179698,
+                    0.261807488210548,
+                    -0.6713180918509376
+                ],
+                [
+                    0.682526274278864,
+                    -0.06006044143536768,
+                    -0.7283890638207046
+                ]
+            ],
+            "translation_vector": [
+                0.48705819587627774,
+                -0.07599896233066657,
+                0.6355893506957058
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355893670161914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355893670161914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310349008877798,
+                    -0.9632479485283092,
+                    -0.13702650921547535
+                ],
+                [
+                    -0.693389399202815,
+                    0.2618074880794027,
+                    -0.6713180917111605
+                ],
+                [
+                    0.6825203408287066,
+                    -0.060085179882883984,
+                    -0.7283925833734914
+                ]
+            ],
+            "translation_vector": [
+                0.4870606986586227,
+                -0.075998962311527,
+                0.6355889690690691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101971174165897,
+                    -0.9632492854260587,
+                    -0.13704271929945389
+                ],
+                [
+                    -0.6933893990506548,
+                    0.26180748818394145,
+                    -0.6713180918275536
+                ],
+                [
+                    0.6825254823601626,
+                    -0.060063743281646084,
+                    -0.7283895336096092
+                ]
+            ],
+            "translation_vector": [
+                0.4870591527920549,
+                -0.07599896232516236,
+                0.6355887270243696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101971174165897,
+                    -0.9632492854260587,
+                    -0.13704271929945389
+                ],
+                [
+                    -0.6933893990506548,
+                    0.26180748818394145,
+                    -0.6713180918275536
+                ],
+                [
+                    0.6825254823601626,
+                    -0.060063743281646084,
+                    -0.7283895336096092
+                ]
+            ],
+            "translation_vector": [
+                0.4870591527920549,
+                -0.07599896232516236,
+                0.6355887270243696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102944792683128,
+                    -0.9632484285353259,
+                    -0.13703232872154528
+                ],
+                [
+                    -0.6933893991466472,
+                    0.2618074881186827,
+                    -0.671318091753856
+                ],
+                [
+                    0.6825221867028761,
+                    -0.06007748404528901,
+                    -0.7283914885342312
+                ]
+            ],
+            "translation_vector": [
+                0.4870600238835684,
+                -0.07599896231698952,
+                0.6355890050430032
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355894313172419
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355894313172419
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102035962581163,
+                    -0.9632492284103854,
+                    -0.13704202787888983
+                ],
+                [
+                    -0.6933893990530346,
+                    0.26180748818415067,
+                    -0.6713180918250139
+                ],
+                [
+                    0.6825252630630109,
+                    -0.060064657640775856,
+                    -0.7283896636988092
+                ]
+            ],
+            "translation_vector": [
+                0.4870588992591166,
+                -0.07599896232609363,
+                0.6355890650115402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099374236968387,
+                    -0.9632515700307852,
+                    -0.13707043378962688
+                ],
+                [
+                    -0.6933893987745794,
+                    0.2618074883807736,
+                    -0.6713180920359437
+                ],
+                [
+                    0.6825342721454185,
+                    -0.06002709272469836,
+                    -0.7283843185337977
+                ]
+            ],
+            "translation_vector": [
+                0.48705527185712394,
+                -0.07599896235433681,
+                0.6355895066967848
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099374236968387,
+                    -0.9632515700307852,
+                    -0.13707043378962688
+                ],
+                [
+                    -0.6933893987745794,
+                    0.2618074883807736,
+                    -0.6713180920359437
+                ],
+                [
+                    0.6825342721454185,
+                    -0.06002709272469836,
+                    -0.7283843185337977
+                ]
+            ],
+            "translation_vector": [
+                0.48705527185712394,
+                -0.07599896235433681,
+                0.6355895066967848
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100452248111922,
+                    -0.9632506218467468,
+                    -0.13705892931555727
+                ],
+                [
+                    -0.6933893988984962,
+                    0.2618074882884844,
+                    -0.6713180919439449
+                ],
+                [
+                    0.6825306235535905,
+                    -0.06004230665066136,
+                    -0.7283864834849805
+                ]
+            ],
+            "translation_vector": [
+                0.48705760692739286,
+                -0.07599896233879755,
+                0.6355885613151274
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103308323576915,
+                    -0.9632481085374797,
+                    -0.13702844905180384
+                ],
+                [
+                    -0.6933893991840921,
+                    0.261807488092496,
+                    -0.6713180917253921
+                ],
+                [
+                    0.6825209561249369,
+                    -0.06008261460411192,
+                    -0.7283922184322373
+                ]
+            ],
+            "translation_vector": [
+                0.4870604737335727,
+                -0.07599896231334781,
+                0.6355889810597815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103308323576915,
+                    -0.9632481085374797,
+                    -0.13702844905180384
+                ],
+                [
+                    -0.6933893991840921,
+                    0.261807488092496,
+                    -0.6713180917253921
+                ],
+                [
+                    0.6825209561249369,
+                    -0.06008261460411192,
+                    -0.7283922184322373
+                ]
+            ],
+            "translation_vector": [
+                0.4870604737335727,
+                -0.07599896231334781,
+                0.6355889810597815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310687880962491,
+                    -0.9632449641374551,
+                    -0.13699034357050505
+                ],
+                [
+                    -0.6933893995561662,
+                    0.26180748783043134,
+                    -0.6713180914432884
+                ],
+                [
+                    0.6825088686243359,
+                    -0.06013300574354214,
+                    -0.7283993862362718
+                ]
+            ],
+            "translation_vector": [
+                0.48706522577326994,
+                -0.07599896227599896,
+                0.6355884033664116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103905807831635,
+                    -0.9632475825438569,
+                    -0.13702207254928406
+                ],
+                [
+                    -0.6933893992542232,
+                    0.2618074880397042,
+                    -0.6713180916735443
+                ],
+                [
+                    0.6825189335426182,
+                    -0.060091047001671755,
+                    -0.7283934180277104
+                ]
+            ],
+            "translation_vector": [
+                0.48706188049926963,
+                -0.07599896230420189,
+                0.6355882571212471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103905807831635,
+                    -0.9632475825438569,
+                    -0.13702207254928406
+                ],
+                [
+                    -0.6933893992542232,
+                    0.2618074880397042,
+                    -0.6713180916735443
+                ],
+                [
+                    0.6825189335426182,
+                    -0.060091047001671755,
+                    -0.7283934180277104
+                ]
+            ],
+            "translation_vector": [
+                0.48706188049926963,
+                -0.07599896230420189,
+                0.6355882571212471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104217147943729,
+                    -0.963247308423309,
+                    -0.1370187498604422
+                ],
+                [
+                    -0.6933893992777053,
+                    0.26180748802703,
+                    -0.6713180916542328
+                ],
+                [
+                    0.6825178795953775,
+                    -0.06009544099371171,
+                    -0.728394043086846
+                ]
+            ],
+            "translation_vector": [
+                0.4870615983591422,
+                -0.07599896230424356,
+                0.6355888448182645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310281521641579,
+                    -0.9632485425901556,
+                    -0.13703371156601427
+                ],
+                [
+                    -0.6933893991418878,
+                    0.26180748811826393,
+                    -0.6713180917589354
+                ],
+                [
+                    0.6825226253138188,
+                    -0.060075655328494015,
+                    -0.7283912283735888
+                ]
+            ],
+            "translation_vector": [
+                0.48706053094901014,
+                -0.07599896231512698,
+                0.6355883290662862
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310281521641579,
+                    -0.9632485425901556,
+                    -0.13703371156601427
+                ],
+                [
+                    -0.6933893991418878,
+                    0.26180748811826393,
+                    -0.6713180917589354
+                ],
+                [
+                    0.6825226253138188,
+                    -0.060075655328494015,
+                    -0.7283912283735888
+                ]
+            ],
+            "translation_vector": [
+                0.48706053094901014,
+                -0.07599896231512698,
+                0.6355883290662862
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102944792683128,
+                    -0.9632484285353259,
+                    -0.13703232872154528
+                ],
+                [
+                    -0.6933893991466472,
+                    0.2618074881186827,
+                    -0.671318091753856
+                ],
+                [
+                    0.6825221867028761,
+                    -0.06007748404528901,
+                    -0.7283914885342312
+                ]
+            ],
+            "translation_vector": [
+                0.4870600238835684,
+                -0.07599896231698952,
+                0.6355889287490578
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310281521641579,
+                    -0.9632485425901556,
+                    -0.13703371156601427
+                ],
+                [
+                    -0.6933893991418878,
+                    0.26180748811826393,
+                    -0.6713180917589354
+                ],
+                [
+                    0.6825226253138188,
+                    -0.060075655328494015,
+                    -0.7283912283735888
+                ]
+            ],
+            "translation_vector": [
+                0.48706053094901014,
+                -0.07599896231512698,
+                0.6355883290662862
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310281521641579,
+                    -0.9632485425901556,
+                    -0.13703371156601427
+                ],
+                [
+                    -0.6933893991418878,
+                    0.26180748811826393,
+                    -0.6713180917589354
+                ],
+                [
+                    0.6825226253138188,
+                    -0.060075655328494015,
+                    -0.7283912283735888
+                ]
+            ],
+            "translation_vector": [
+                0.48706053094901014,
+                -0.07599896231512698,
+                0.6355883290662862
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310258126113392,
+                    -0.9632487485058451,
+                    -0.13703620838739905
+                ],
+                [
+                    -0.693389399109202,
+                    0.26180748814486976,
+                    -0.6713180917823194
+                ],
+                [
+                    0.6825234172614523,
+                    -0.060072353484761865,
+                    -0.7283907586155607
+                ]
+            ],
+            "translation_vector": [
+                0.4870595740336918,
+                -0.07599896232063118,
+                0.635589029028621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101490662553742,
+                    -0.96324970825344,
+                    -0.1370478473616326
+                ],
+                [
+                    -0.6933893989968674,
+                    0.2618074882234323,
+                    -0.6713180918677084
+                ],
+                [
+                    0.682527108821003,
+                    -0.060056961792955846,
+                    -0.7283885687355631
+                ]
+            ],
+            "translation_vector": [
+                0.4870582244848289,
+                -0.07599896233155606,
+                0.6355891772937958
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101490662553742,
+                    -0.96324970825344,
+                    -0.1370478473616326
+                ],
+                [
+                    -0.6933893989968674,
+                    0.2618074882234323,
+                    -0.6713180918677084
+                ],
+                [
+                    0.682527108821003,
+                    -0.060056961792955846,
+                    -0.7283885687355631
+                ]
+            ],
+            "translation_vector": [
+                0.4870582244848289,
+                -0.07599896233155606,
+                0.6355891772937958
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310221772892927,
+                    -0.9632490684490373,
+                    -0.13704008804936485
+                ],
+                [
+                    -0.6933893990717571,
+                    0.261807488171057,
+                    -0.6713180918107827
+                ],
+                [
+                    0.6825246478006658,
+                    -0.06006722292253042,
+                    -0.7283900286762258
+                ]
+            ],
+            "translation_vector": [
+                0.4870591241839431,
+                -0.07599896232427285,
+                0.6355890530166348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102399495113515,
+                    -0.9632489084808572,
+                    -0.1370381482188679
+                ],
+                [
+                    -0.6933893990904797,
+                    0.26180748815796323,
+                    -0.6713180917965511
+                ],
+                [
+                    0.6825240325334795,
+                    -0.06006978820385928,
+                    -0.7283903936484764
+                ]
+            ],
+            "translation_vector": [
+                0.4870593491088015,
+                -0.07599896232245203,
+                0.6355890410223284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102399495113515,
+                    -0.9632489084808572,
+                    -0.1370381482188679
+                ],
+                [
+                    -0.6933893990904797,
+                    0.26180748815796323,
+                    -0.6713180917965511
+                ],
+                [
+                    0.6825240325334795,
+                    -0.06006978820385928,
+                    -0.7283903936484764
+                ]
+            ],
+            "translation_vector": [
+                0.4870593491088015,
+                -0.07599896232245203,
+                0.6355890410223284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102944792683128,
+                    -0.9632484285353259,
+                    -0.13703232872154528
+                ],
+                [
+                    -0.6933893991466472,
+                    0.2618074881186827,
+                    -0.671318091753856
+                ],
+                [
+                    0.6825221867028761,
+                    -0.06007748404528901,
+                    -0.7283914885342312
+                ]
+            ],
+            "translation_vector": [
+                0.4870600238835684,
+                -0.07599896231698952,
+                0.6355890050430032
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102698238808766,
+                    -0.9632486455494149,
+                    -0.13703495997690784
+                ],
+                [
+                    -0.6933893991255445,
+                    0.2618074881315667,
+                    -0.6713180917706275
+                ],
+                [
+                    0.6825230212886382,
+                    -0.060074004406716154,
+                    -0.7283909934956442
+                ]
+            ],
+            "translation_vector": [
+                0.4870600524915069,
+                -0.07599896231787909,
+                0.6355886790474881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102698238808766,
+                    -0.9632486455494149,
+                    -0.13703495997690784
+                ],
+                [
+                    -0.6933893991255445,
+                    0.2618074881315667,
+                    -0.6713180917706275
+                ],
+                [
+                    0.6825230212886382,
+                    -0.060074004406716154,
+                    -0.7283909934956442
+                ]
+            ],
+            "translation_vector": [
+                0.4870600524915069,
+                -0.07599896231787909,
+                0.6355886790474881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103009580785572,
+                    -0.9632483715066092,
+                    -0.13703163729912587
+                ],
+                [
+                    -0.6933893991490269,
+                    0.2618074881188922,
+                    -0.6713180917513162
+                ],
+                [
+                    0.6825219673964824,
+                    -0.060078398403605154,
+                    -0.7283916186135679
+                ]
+            ],
+            "translation_vector": [
+                0.4870597703503663,
+                -0.07599896231792079,
+                0.6355893430310007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102763026990436,
+                    -0.9632485885240015,
+                    -0.13703426855495823
+                ],
+                [
+                    -0.6933893991279246,
+                    0.2618074881317762,
+                    -0.6713180917680877
+                ],
+                [
+                    0.6825228019845846,
+                    -0.06007491876523826,
+                    -0.7283911235774789
+                ]
+            ],
+            "translation_vector": [
+                0.4870597989586141,
+                -0.07599896231881034,
+                0.6355890933294579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102763026990436,
+                    -0.9632485885240015,
+                    -0.13703426855495823
+                ],
+                [
+                    -0.6933893991279246,
+                    0.2618074881317762,
+                    -0.6713180917680877
+                ],
+                [
+                    0.6825228019845846,
+                    -0.06007491876523826,
+                    -0.7283911235774789
+                ]
+            ],
+            "translation_vector": [
+                0.4870597989586141,
+                -0.07599896231881034,
+                0.6355890933294579
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355893670161914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102763026990436,
+                    -0.9632485885240015,
+                    -0.13703426855495823
+                ],
+                [
+                    -0.6933893991279246,
+                    0.2618074881317762,
+                    -0.6713180917680877
+                ],
+                [
+                    0.6825228019845846,
+                    -0.06007491876523826,
+                    -0.7283911235774789
+                ]
+            ],
+            "translation_vector": [
+                0.4870597989586141,
+                -0.07599896231881034,
+                0.6355890170355126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102763026990436,
+                    -0.9632485885240015,
+                    -0.13703426855495823
+                ],
+                [
+                    -0.6933893991279246,
+                    0.2618074881317762,
+                    -0.6713180917680877
+                ],
+                [
+                    0.6825228019845846,
+                    -0.06007491876523826,
+                    -0.7283911235774789
+                ]
+            ],
+            "translation_vector": [
+                0.4870597989586141,
+                -0.07599896231881034,
+                0.6355890170355126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102944792683128,
+                    -0.9632484285353259,
+                    -0.13703232872154528
+                ],
+                [
+                    -0.6933893991466472,
+                    0.2618074881186827,
+                    -0.671318091753856
+                ],
+                [
+                    0.6825221867028761,
+                    -0.06007748404528901,
+                    -0.7283914885342312
+                ]
+            ],
+            "translation_vector": [
+                0.4870600238835684,
+                -0.07599896231698952,
+                0.6355890050430032
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102880004559875,
+                    -0.9632484855631746,
+                    -0.13703302014384153
+                ],
+                [
+                    -0.6933893991442673,
+                    0.26180748811847326,
+                    -0.6713180917563957
+                ],
+                [
+                    0.682522406008655,
+                    -0.06007656968691867,
+                    -0.7283913584542381
+                ]
+            ],
+            "translation_vector": [
+                0.48706027741644975,
+                -0.07599896231605825,
+                0.6355886670547651
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102880004559875,
+                    -0.9632484855631746,
+                    -0.13703302014384153
+                ],
+                [
+                    -0.6933893991442673,
+                    0.26180748811847326,
+                    -0.6713180917563957
+                ],
+                [
+                    0.682522406008655,
+                    -0.06007656968691867,
+                    -0.7283913584542381
+                ]
+            ],
+            "translation_vector": [
+                0.48706027741644975,
+                -0.07599896231605825,
+                0.6355886670547651
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103671853815222,
+                    -0.9632477885123067,
+                    -0.13702456937817473
+                ],
+                [
+                    -0.6933893992215375,
+                    0.2618074880663093,
+                    -0.6713180916969287
+                ],
+                [
+                    0.6825197255276353,
+                    -0.06008774516123033,
+                    -0.7283929483095792
+                ]
+            ],
+            "translation_vector": [
+                0.4870609235837047,
+                -0.07599896230970614,
+                0.6355889570789558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103671853815222,
+                    -0.9632477885123067,
+                    -0.13702456937817473
+                ],
+                [
+                    -0.6933893992215375,
+                    0.2618074880663093,
+                    -0.6713180916969287
+                ],
+                [
+                    0.6825197255276353,
+                    -0.06008774516123033,
+                    -0.7283929483095792
+                ]
+            ],
+            "translation_vector": [
+                0.4870609235837047,
+                -0.07599896230970614,
+                0.6355889570789558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106099571496475,
+                    -0.9632456506124734,
+                    -0.1369986599765247
+                ],
+                [
+                    -0.6933893994673118,
+                    0.2618074878963121,
+                    -0.6713180915093712
+                ],
+                [
+                    0.6825115068374823,
+                    -0.06012200809667616,
+                    -0.728397822056638
+                ]
+            ],
+            "translation_vector": [
+                0.4870635940796669,
+                -0.07599896228696604,
+                0.635589215547565
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105008991947487,
+                    -0.9632466111534982,
+                    -0.13701029906362966
+                ],
+                [
+                    -0.6933893993549755,
+                    0.26180748797486786,
+                    -0.6713180915947649
+                ],
+                [
+                    0.6825151989592243,
+                    -0.060106616454364895,
+                    -0.7283956327766243
+                ]
+            ],
+            "translation_vector": [
+                0.4870622445270956,
+                -0.07599896229789137,
+                0.6355892874492262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105008991947487,
+                    -0.9632466111534982,
+                    -0.13701029906362966
+                ],
+                [
+                    -0.6933893993549755,
+                    0.26180748797486786,
+                    -0.6713180915947649
+                ],
+                [
+                    0.6825151989592243,
+                    -0.060106616454364895,
+                    -0.7283956327766243
+                ]
+            ],
+            "translation_vector": [
+                0.4870622445270956,
+                -0.07599896229789137,
+                0.6355892874492262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104762440597373,
+                    -0.9632468282728255,
+                    -0.13701293033396292
+                ],
+                [
+                    -0.6933893993338731,
+                    0.261807487987751,
+                    -0.6713180916115368
+                ],
+                [
+                    0.6825160336195535,
+                    -0.06010313682235711,
+                    -0.7283951378176178
+                ]
+            ],
+            "translation_vector": [
+                0.48706227313486705,
+                -0.07599896229878098,
+                0.6355888851508551
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103126558211937,
+                    -0.9632482685398186,
+                    -0.13703038888716057
+                ],
+                [
+                    -0.6933893991653698,
+                    0.2618074881055893,
+                    -0.671318091739624
+                ],
+                [
+                    0.6825215714163267,
+                    -0.06008004932491342,
+                    -0.7283918534858175
+                ]
+            ],
+            "translation_vector": [
+                0.48706024880855453,
+                -0.07599896231516866,
+                0.6355889930510928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355892547453585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355892547453585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102880004559875,
+                    -0.9632484855631746,
+                    -0.13703302014384153
+                ],
+                [
+                    -0.6933893991442673,
+                    0.26180748811847326,
+                    -0.6713180917563957
+                ],
+                [
+                    0.682522406008655,
+                    -0.06007656968691867,
+                    -0.7283913584542381
+                ]
+            ],
+            "translation_vector": [
+                0.48706027741644975,
+                -0.07599896231605825,
+                0.6355885907608199
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104100171150085,
+                    -0.9632474114164795,
+                    -0.1370199982761603
+                ],
+                [
+                    -0.6933893992613623,
+                    0.2618074880403326,
+                    -0.6713180916659249
+                ],
+                [
+                    0.6825182755942245,
+                    -0.06009379007404876,
+                    -0.728393808234545
+                ]
+            ],
+            "translation_vector": [
+                0.4870611199008307,
+                -0.0759989623069957,
+                0.6355892710898047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104100171150085,
+                    -0.9632474114164795,
+                    -0.1370199982761603
+                ],
+                [
+                    -0.6933893992613623,
+                    0.2618074880403326,
+                    -0.6713180916659249
+                ],
+                [
+                    0.6825182755942245,
+                    -0.06009379007404876,
+                    -0.728393808234545
+                ]
+            ],
+            "translation_vector": [
+                0.4870611199008307,
+                -0.0759989623069957,
+                0.6355892710898047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104035383398072,
+                    -0.9632474684598067,
+                    -0.13702068970065823
+                ],
+                [
+                    -0.6933893992589827,
+                    0.26180748804012294,
+                    -0.6713180916684648
+                ],
+                [
+                    0.6825184949109707,
+                    -0.06009287571664385,
+                    -0.7283936781662564
+                ]
+            ],
+            "translation_vector": [
+                0.48706137343396444,
+                -0.07599896230606443,
+                0.6355888568065808
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104035383398072,
+                    -0.9632474684598067,
+                    -0.13702068970065823
+                ],
+                [
+                    -0.6933893992589827,
+                    0.26180748804012294,
+                    -0.6713180916684648
+                ],
+                [
+                    0.6825184949109707,
+                    -0.06009287571664385,
+                    -0.7283936781662564
+                ]
+            ],
+            "translation_vector": [
+                0.48706137343396444,
+                -0.07599896230606443,
+                0.6355889331005262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104035383398072,
+                    -0.9632474684598067,
+                    -0.13702068970065823
+                ],
+                [
+                    -0.6933893992589827,
+                    0.26180748804012294,
+                    -0.6713180916684648
+                ],
+                [
+                    0.6825184949109707,
+                    -0.06009287571664385,
+                    -0.7283936781662564
+                ]
+            ],
+            "translation_vector": [
+                0.48706137343396444,
+                -0.07599896230606443,
+                0.6355889331005262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103671853815222,
+                    -0.9632477885123067,
+                    -0.13702456937817473
+                ],
+                [
+                    -0.6933893992215375,
+                    0.2618074880663093,
+                    -0.6713180916969287
+                ],
+                [
+                    0.6825197255276353,
+                    -0.06008774516123033,
+                    -0.7283929483095792
+                ]
+            ],
+            "translation_vector": [
+                0.4870609235837047,
+                -0.07599896230970614,
+                0.6355889570789558
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104229746591629,
+                    -0.9632472973272213,
+                    -0.13701861542679344
+                ],
+                [
+                    -0.6933893992661216,
+                    0.2618074880407515,
+                    -0.6713180916608454
+                ],
+                [
+                    0.682517836958887,
+                    -0.060095618788696285,
+                    -0.7283940683691527
+                ]
+            ],
+            "translation_vector": [
+                0.48706061283360047,
+                -0.07599896230885825,
+                0.6355899470676398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104229746591629,
+                    -0.9632472973272213,
+                    -0.13701861542679344
+                ],
+                [
+                    -0.6933893992661216,
+                    0.2618074880407515,
+                    -0.6713180916608454
+                ],
+                [
+                    0.682517836958887,
+                    -0.060095618788696285,
+                    -0.7283940683691527
+                ]
+            ],
+            "translation_vector": [
+                0.48706061283360047,
+                -0.07599896230885825,
+                0.6355899470676398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104411510962045,
+                    -0.9632471372834187,
+                    -0.13701667558553826
+                ],
+                [
+                    -0.6933893992848447,
+                    0.26180748802765863,
+                    -0.6713180916466138
+                ],
+                [
+                    0.6825172216381179,
+                    -0.06009818406530823,
+                    -0.7283944332842185
+                ]
+            ],
+            "translation_vector": [
+                0.48706083775881237,
+                -0.07599896230703743,
+                0.6355900113739094
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900953002189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900953002189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102048561365404,
+                    -0.96324921731998,
+                    -0.13704189344604936
+                ],
+                [
+                    -0.6933893990414518,
+                    0.2618074881978729,
+                    -0.6713180918316266
+                ],
+                [
+                    0.6825252204305468,
+                    -0.06006483543611501,
+                    -0.728389688985413
+                ]
+            ],
+            "translation_vector": [
+                0.48705791373354834,
+                -0.07599896233070831,
+                0.6355900909664719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101645437291907,
+                    -0.9632495720554225,
+                    -0.13704619565683576
+                ],
+                [
+                    -0.6933893989784613,
+                    0.2618074882512956,
+                    -0.6713180918758538
+                ],
+                [
+                    0.6825265849717901,
+                    -0.06005914610277538,
+                    -0.7283888794978629
+                ]
+            ],
+            "translation_vector": [
+                0.48705574635995225,
+                -0.07599896234264795,
+                0.6355919051691584
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101645437291907,
+                    -0.9632495720554225,
+                    -0.13704619565683576
+                ],
+                [
+                    -0.6933893989784613,
+                    0.2618074882512956,
+                    -0.6713180918758538
+                ],
+                [
+                    0.6825265849717901,
+                    -0.06005914610277538,
+                    -0.7283888794978629
+                ]
+            ],
+            "translation_vector": [
+                0.48705574635995225,
+                -0.07599896234264795,
+                0.6355919051691584
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310267124684462,
+                    -0.9632486692979764,
+                    -0.1370352480995344
+                ],
+                [
+                    -0.6933893990884159,
+                    0.26180748817252314,
+                    -0.6713180917930047
+                ],
+                [
+                    0.6825231126913054,
+                    -0.06007362343386033,
+                    -0.7283909392693593
+                ]
+            ],
+            "translation_vector": [
+                0.487057349444472,
+                -0.0759989623307918,
+                0.6355914189215852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310267124684462,
+                    -0.9632486692979764,
+                    -0.1370352480995344
+                ],
+                [
+                    -0.6933893990884159,
+                    0.26180748817252314,
+                    -0.6713180917930047
+                ],
+                [
+                    0.6825231126913054,
+                    -0.06007362343386033,
+                    -0.7283909392693593
+                ]
+            ],
+            "translation_vector": [
+                0.487057349444472,
+                -0.0759989623307918,
+                0.6355914189215852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104112769805363,
+                    -0.9632474003206967,
+                    -0.13701986384255438
+                ],
+                [
+                    -0.693389399249779,
+                    0.26180748805405424,
+                    -0.671318091672538
+                ],
+                [
+                    0.6825182329579502,
+                    -0.06009396786905328,
+                    -0.7283938335170822
+                ]
+            ],
+            "translation_vector": [
+                0.4870601343743128,
+                -0.07599896231161041,
+                0.6355902970442576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310308696758659,
+                    -0.9632483033839143,
+                    -0.1370308114433571
+                ],
+                [
+                    -0.6933893991398237,
+                    0.2618074881328236,
+                    -0.671318091755389
+                ],
+                [
+                    0.6825217054550925,
+                    -0.06007949055703827,
+                    -0.7283917739768068
+                ]
+            ],
+            "translation_vector": [
+                0.48705853128933835,
+                -0.07599896232346674,
+                0.6355906306780807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310308696758659,
+                    -0.9632483033839143,
+                    -0.1370308114433571
+                ],
+                [
+                    -0.6933893991398237,
+                    0.2618074881328236,
+                    -0.671318091755389
+                ],
+                [
+                    0.6825217054550925,
+                    -0.06007949055703827,
+                    -0.7283917739768068
+                ]
+            ],
+            "translation_vector": [
+                0.48705853128933835,
+                -0.07599896232346674,
+                0.6355906306780807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104658062741346,
+                    -0.9632469201819829,
+                    -0.1370140443177496
+                ],
+                [
+                    -0.693389399305947,
+                    0.2618074880147752,
+                    -0.6713180916298418
+                ],
+                [
+                    0.6825163869904655,
+                    -0.06010166369843267,
+                    -0.7283949282567546
+                ]
+            ],
+            "translation_vector": [
+                0.4870608091499826,
+                -0.0759989623061478,
+                0.6355901847879255
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310326873298721,
+                    -0.9632481433830632,
+                    -0.13702887160821242
+                ],
+                [
+                    -0.6933893991585461,
+                    0.26180748811973015,
+                    -0.6713180917411571
+                ],
+                [
+                    0.6825210901647568,
+                    -0.06008205583632923,
+                    -0.728392138924352
+                ]
+            ],
+            "translation_vector": [
+                0.48705875621434946,
+                -0.07599896232164588,
+                0.6355906949805842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310326873298721,
+                    -0.9632481433830632,
+                    -0.13702887160821242
+                ],
+                [
+                    -0.6933893991585461,
+                    0.26180748811973015,
+                    -0.6713180917411571
+                ],
+                [
+                    0.6825210901647568,
+                    -0.06008205583632923,
+                    -0.728392138924352
+                ]
+            ],
+            "translation_vector": [
+                0.48705875621434946,
+                -0.07599896232164588,
+                0.6355906949805842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104787637824342,
+                    -0.9632468060777766,
+                    -0.1370126614662567
+                ],
+                [
+                    -0.6933893993107063,
+                    0.26180748801519427,
+                    -0.6713180916247621
+                ],
+                [
+                    0.6825159483445364,
+                    -0.06010349241214741,
+                    -0.7283951883800588
+                ]
+            ],
+            "translation_vector": [
+                0.48706030208087303,
+                -0.07599896230801036,
+                0.6355910133530615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105021590545946,
+                    -0.963246600055348,
+                    -0.13701016462968724
+                ],
+                [
+                    -0.693389399343392,
+                    0.26180748798858916,
+                    -0.6713180916013777
+                ],
+                [
+                    0.6825151563212725,
+                    -0.06010679424922116,
+                    -0.7283956580573716
+                ]
+            ],
+            "translation_vector": [
+                0.4870612590005888,
+                -0.07599896230250607,
+                0.6355902371099413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355903809774588
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355903809774588
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102658648099297,
+                    -0.9632486803900039,
+                    -0.13703538253260555
+                ],
+                [
+                    -0.6933893990999987,
+                    0.26180748815880117,
+                    -0.6713180917863922
+                ],
+                [
+                    0.682523155324919,
+                    -0.06007344563862218,
+                    -0.7283909139839821
+                ]
+            ],
+            "translation_vector": [
+                0.4870583349739314,
+                -0.07599896232617713,
+                0.6355903929703122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102476882148684,
+                    -0.9632488403679245,
+                    -0.13703732236448835
+                ],
+                [
+                    -0.6933893990812764,
+                    0.2618074881718949,
+                    -0.6713180918006239
+                ],
+                [
+                    0.6825237705990068,
+                    -0.060070880357900994,
+                    -0.7283905490190971
+                ]
+            ],
+            "translation_vector": [
+                0.48705811004902744,
+                -0.07599896232799795,
+                0.6355903286698193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102476882148684,
+                    -0.9632488403679245,
+                    -0.13703732236448835
+                ],
+                [
+                    -0.6933893990812764,
+                    0.2618074881718949,
+                    -0.6713180918006239
+                ],
+                [
+                    0.6825237705990068,
+                    -0.060070880357900994,
+                    -0.7283905490190971
+                ]
+            ],
+            "translation_vector": [
+                0.48705811004902744,
+                -0.07599896232799795,
+                0.6355903286698193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355903046835136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102658648099297,
+                    -0.9632486803900039,
+                    -0.13703538253260555
+                ],
+                [
+                    -0.6933893990999987,
+                    0.26180748815880117,
+                    -0.6713180917863922
+                ],
+                [
+                    0.682523155324919,
+                    -0.06007344563862218,
+                    -0.7283909139839821
+                ]
+            ],
+            "translation_vector": [
+                0.4870583349739314,
+                -0.07599896232617713,
+                0.6355903929703122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102658648099297,
+                    -0.9632486803900039,
+                    -0.13703538253260555
+                ],
+                [
+                    -0.6933893990999987,
+                    0.26180748815880117,
+                    -0.6713180917863922
+                ],
+                [
+                    0.682523155324919,
+                    -0.06007344563862218,
+                    -0.7283909139839821
+                ]
+            ],
+            "translation_vector": [
+                0.4870583349739314,
+                -0.07599896232617713,
+                0.6355903929703122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310308696758659,
+                    -0.9632483033839143,
+                    -0.1370308114433571
+                ],
+                [
+                    -0.6933893991398237,
+                    0.2618074881328236,
+                    -0.671318091755389
+                ],
+                [
+                    0.6825217054550925,
+                    -0.06007949055703827,
+                    -0.7283917739768068
+                ]
+            ],
+            "translation_vector": [
+                0.48705853128933835,
+                -0.07599896232346674,
+                0.6355906306780807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103814028205988,
+                    -0.9632476633395203,
+                    -0.13702305209694599
+                ],
+                [
+                    -0.6933893992147137,
+                    0.26180748808045023,
+                    -0.6713180916984617
+                ],
+                [
+                    0.6825192442647064,
+                    -0.06008975167164614,
+                    -0.7283932337359913
+                ]
+            ],
+            "translation_vector": [
+                0.48705943098957455,
+                -0.07599896231618336,
+                0.6355906590098528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103814028205988,
+                    -0.9632476633395203,
+                    -0.13702305209694599
+                ],
+                [
+                    -0.6933893992147137,
+                    0.26180748808045023,
+                    -0.6713180916984617
+                ],
+                [
+                    0.6825192442647064,
+                    -0.06008975167164614,
+                    -0.7283932337359913
+                ]
+            ],
+            "translation_vector": [
+                0.48705943098957455,
+                -0.07599896231618336,
+                0.6355906590098528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105203354202455,
+                    -0.963246439981783,
+                    -0.13700822478419827
+                ],
+                [
+                    -0.6933893993621147,
+                    0.26180748797549636,
+                    -0.6713180915871456
+                ],
+                [
+                    0.6825145409794149,
+                    -0.060109359523976176,
+                    -0.7283960229499312
+                ]
+            ],
+            "translation_vector": [
+                0.4870614839259398,
+                -0.0759989623006852,
+                0.6355902251248752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105203354202455,
+                    -0.963246439981783,
+                    -0.13700822478419827
+                ],
+                [
+                    -0.6933893993621147,
+                    0.26180748797549636,
+                    -0.6713180915871456
+                ],
+                [
+                    0.6825145409794149,
+                    -0.060109359523976176,
+                    -0.7283960229499312
+                ]
+            ],
+            "translation_vector": [
+                0.4870614839259398,
+                -0.0759989623006852,
+                0.6355902251248752
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104229746591629,
+                    -0.9632472973272213,
+                    -0.13701861542679344
+                ],
+                [
+                    -0.6933893992661216,
+                    0.2618074880407515,
+                    -0.6713180916608454
+                ],
+                [
+                    0.682517836958887,
+                    -0.060095618788696285,
+                    -0.7283940683691527
+                ]
+            ],
+            "translation_vector": [
+                0.48706061283360047,
+                -0.07599896230885825,
+                0.6355899470676398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103918406498994,
+                    -0.9632475714485805,
+                    -0.13702193811575067
+                ],
+                [
+                    -0.6933893992426395,
+                    0.2618074880534256,
+                    -0.6713180916801571
+                ],
+                [
+                    0.6825188909067026,
+                    -0.06009122479670714,
+                    -0.7283934433106304
+                ]
+            ],
+            "translation_vector": [
+                0.48706089497567345,
+                -0.07599896230881657,
+                0.6355892830785066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103918406498994,
+                    -0.9632475714485805,
+                    -0.13702193811575067
+                ],
+                [
+                    -0.6933893992426395,
+                    0.2618074880534256,
+                    -0.6713180916801571
+                ],
+                [
+                    0.6825188909067026,
+                    -0.06009122479670714,
+                    -0.7283934433106304
+                ]
+            ],
+            "translation_vector": [
+                0.48706089497567345,
+                -0.07599896230881657,
+                0.6355892830785066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.635589319048206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355892907222461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355892907222461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355893670161914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101737217904694,
+                    -0.9632494913009162,
+                    -0.13704521611502937
+                ],
+                [
+                    -0.6933893990179698,
+                    0.261807488210548,
+                    -0.6713180918509376
+                ],
+                [
+                    0.682526274278864,
+                    -0.06006044143536768,
+                    -0.7283890638207046
+                ]
+            ],
+            "translation_vector": [
+                0.48705819587627774,
+                -0.07599896233066657,
+                0.6355893506957058
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101737217904694,
+                    -0.9632494913009162,
+                    -0.13704521611502937
+                ],
+                [
+                    -0.6933893990179698,
+                    0.261807488210548,
+                    -0.6713180918509376
+                ],
+                [
+                    0.682526274278864,
+                    -0.06006044143536768,
+                    -0.7283890638207046
+                ]
+            ],
+            "translation_vector": [
+                0.48705819587627774,
+                -0.07599896233066657,
+                0.6355893506957058
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355892907222461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105502093743124,
+                    -0.9632461768771347,
+                    -0.137005036517599
+                ],
+                [
+                    -0.6933893993971805,
+                    0.26180748794910147,
+                    -0.6713180915612209
+                ],
+                [
+                    0.6825135296118467,
+                    -0.06011357571602755,
+                    -0.7283966226661222
+                ]
+            ],
+            "translation_vector": [
+                0.4870621873107541,
+                -0.07599896229611215,
+                0.6355898631664887
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105865620025817,
+                    -0.9632458566870525,
+                    -0.13700115682051178
+                ],
+                [
+                    -0.6933893994346259,
+                    0.2618074879229163,
+                    -0.6713180915327563
+                ],
+                [
+                    0.6825122988976978,
+                    -0.06011870626285694,
+                    -0.728397352418761
+                ]
+            ],
+            "translation_vector": [
+                0.4870626371616567,
+                -0.07599896229247038,
+                0.6355898392001222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105865620025817,
+                    -0.9632458566870525,
+                    -0.13700115682051178
+                ],
+                [
+                    -0.6933893994346259,
+                    0.2618074879229163,
+                    -0.6713180915327563
+                ],
+                [
+                    0.6825122988976978,
+                    -0.06011870626285694,
+                    -0.728397352418761
+                ]
+            ],
+            "translation_vector": [
+                0.4870626371616567,
+                -0.07599896229247038,
+                0.6355898392001222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105255542996067,
+                    -0.9632463940216011,
+                    -0.13700766779150808
+                ],
+                [
+                    -0.6933893993760778,
+                    0.2618074879619845,
+                    -0.6713180915779928
+                ],
+                [
+                    0.6825143642899887,
+                    -0.06011009608558864,
+                    -0.7283961277261256
+                ]
+            ],
+            "translation_vector": [
+                0.48706221591905796,
+                -0.07599896229700175,
+                0.6355895371604923
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103450498224015,
+                    -0.9632479833753811,
+                    -0.13702693177209543
+                ],
+                [
+                    -0.6933893991772686,
+                    0.26180748810663684,
+                    -0.6713180917269256
+                ],
+                [
+                    0.682520474869581,
+                    -0.06008462111519449,
+                    -0.7283925038667312
+                ]
+            ],
+            "translation_vector": [
+                0.4870589811393926,
+                -0.07599896231982507,
+                0.6355907592836866
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.635589628709576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.635589628709576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355901312776225
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355892907222461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102646049353182,
+                    -0.9632486914819987,
+                    -0.13703551696567243
+                ],
+                [
+                    -0.6933893991115821,
+                    0.26180748814507937,
+                    -0.6713180917797796
+                ],
+                [
+                    0.6825231979585092,
+                    -0.06007326784338177,
+                    -0.7283908886985804
+                ]
+            ],
+            "translation_vector": [
+                0.487059320500467,
+                -0.07599896232156246,
+                0.6355892907222461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102152940572393,
+                    -0.9632491254671456,
+                    -0.13704077947027546
+                ],
+                [
+                    -0.6933893990693775,
+                    0.2618074881708477,
+                    -0.6713180918133224
+                ],
+                [
+                    0.6825248670995429,
+                    -0.060066308563552474,
+                    -0.7283898985888673
+                ]
+            ],
+            "translation_vector": [
+                0.48705937771686997,
+                -0.07599896232334157,
+                0.6355887150292507
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310095795990402,
+                    -0.9632501769474447,
+                    -0.13705353240319126
+                ],
+                [
+                    -0.6933893989291176,
+                    0.26180748827643685,
+                    -0.6713180919170151
+                ],
+                [
+                    0.6825289119049776,
+                    -0.06004944373681833,
+                    -0.7283874990145747
+                ]
+            ],
+            "translation_vector": [
+                0.48705656418524707,
+                -0.07599896234163314,
+                0.6355901629482346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310095795990402,
+                    -0.9632501769474447,
+                    -0.13705353240319126
+                ],
+                [
+                    -0.6933893989291176,
+                    0.26180748827643685,
+                    -0.6713180919170151
+                ],
+                [
+                    0.6825289119049776,
+                    -0.06004944373681833,
+                    -0.7283874990145747
+                ]
+            ],
+            "translation_vector": [
+                0.48705656418524707,
+                -0.07599896234163314,
+                0.6355901629482346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102399495113515,
+                    -0.9632489084808572,
+                    -0.1370381482188679
+                ],
+                [
+                    -0.6933893990904797,
+                    0.26180748815796323,
+                    -0.6713180917965511
+                ],
+                [
+                    0.6825240325334795,
+                    -0.06006978820385928,
+                    -0.7283903936484764
+                ]
+            ],
+            "translation_vector": [
+                0.4870593491088015,
+                -0.07599896232245203,
+                0.6355890410223284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103126558211937,
+                    -0.9632482685398186,
+                    -0.13703038888716057
+                ],
+                [
+                    -0.6933893991653698,
+                    0.2618074881055893,
+                    -0.671318091739624
+                ],
+                [
+                    0.6825215714163267,
+                    -0.06008004932491342,
+                    -0.7283918534858175
+                ]
+            ],
+            "translation_vector": [
+                0.48706024880855453,
+                -0.07599896231516866,
+                0.6355889930510928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103126558211937,
+                    -0.9632482685398186,
+                    -0.13703038888716057
+                ],
+                [
+                    -0.6933893991653698,
+                    0.2618074881055893,
+                    -0.671318091739624
+                ],
+                [
+                    0.6825215714163267,
+                    -0.06008004932491342,
+                    -0.7283918534858175
+                ]
+            ],
+            "translation_vector": [
+                0.48706024880855453,
+                -0.07599896231516866,
+                0.6355889930510928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105008991947487,
+                    -0.9632466111534982,
+                    -0.13701029906362966
+                ],
+                [
+                    -0.6933893993549755,
+                    0.26180748797486786,
+                    -0.6713180915947649
+                ],
+                [
+                    0.6825151989592243,
+                    -0.060106616454364895,
+                    -0.7283956327766243
+                ]
+            ],
+            "translation_vector": [
+                0.4870622445270956,
+                -0.07599896229789137,
+                0.6355892874492262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104217147943729,
+                    -0.963247308423309,
+                    -0.1370187498604422
+                ],
+                [
+                    -0.6933893992777053,
+                    0.26180748802703,
+                    -0.6713180916542328
+                ],
+                [
+                    0.6825178795953775,
+                    -0.06009544099371171,
+                    -0.728394043086846
+                ]
+            ],
+            "translation_vector": [
+                0.4870615983591422,
+                -0.07599896230424356,
+                0.6355889211122099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104217147943729,
+                    -0.963247308423309,
+                    -0.1370187498604422
+                ],
+                [
+                    -0.6933893992777053,
+                    0.26180748802703,
+                    -0.6713180916542328
+                ],
+                [
+                    0.6825178795953775,
+                    -0.06009544099371171,
+                    -0.728394043086846
+                ]
+            ],
+            "translation_vector": [
+                0.4870615983591422,
+                -0.07599896230424356,
+                0.6355889211122099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310349008877798,
+                    -0.9632479485283092,
+                    -0.13702650921547535
+                ],
+                [
+                    -0.693389399202815,
+                    0.2618074880794027,
+                    -0.6713180917111605
+                ],
+                [
+                    0.6825203408287066,
+                    -0.060085179882883984,
+                    -0.7283925833734914
+                ]
+            ],
+            "translation_vector": [
+                0.4870606986586227,
+                -0.075998962311527,
+                0.6355889690690691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310324353557045,
+                    -0.9632481655701984,
+                    -0.1370291404747928
+                ],
+                [
+                    -0.6933893991817123,
+                    0.2618074880922864,
+                    -0.6713180917279319
+                ],
+                [
+                    0.6825211754341667,
+                    -0.06008170024604524,
+                    -0.7283920883559267
+                ]
+            ],
+            "translation_vector": [
+                0.4870607272664313,
+                -0.07599896231241654,
+                0.6355886430711164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310324353557045,
+                    -0.9632481655701984,
+                    -0.1370291404747928
+                ],
+                [
+                    -0.6933893991817123,
+                    0.2618074880922864,
+                    -0.6713180917279319
+                ],
+                [
+                    0.6825211754341667,
+                    -0.06008170024604524,
+                    -0.7283920883559267
+                ]
+            ],
+            "translation_vector": [
+                0.4870607272664313,
+                -0.07599896231241654,
+                0.6355886430711164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355894073332491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100945361051692,
+                    -0.9632501880350093,
+                    -0.1370536668356273
+                ],
+                [
+                    -0.6933893989407005,
+                    0.26180748826271466,
+                    -0.6713180919104028
+                ],
+                [
+                    0.6825289545354288,
+                    -0.06004926594130232,
+                    -0.7283874737258229
+                ]
+            ],
+            "translation_vector": [
+                0.48705754971082865,
+                -0.0759989623370185,
+                0.6355891369935519
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100945361051692,
+                    -0.9632501880350093,
+                    -0.1370536668356273
+                ],
+                [
+                    -0.6933893989407005,
+                    0.26180748826271466,
+                    -0.6713180919104028
+                ],
+                [
+                    0.6825289545354288,
+                    -0.06004926594130232,
+                    -0.7283874737258229
+                ]
+            ],
+            "translation_vector": [
+                0.48705754971082865,
+                -0.0759989623370185,
+                0.6355891369935519
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101308895550215,
+                    -0.9632498681874614,
+                    -0.13704978718726943
+                ],
+                [
+                    -0.693389398978145,
+                    0.2618074882365261,
+                    -0.6713180918819399
+                ],
+                [
+                    0.6825277240639858,
+                    -0.06005439650949711,
+                    -0.7283882037374823
+                ]
+            ],
+            "translation_vector": [
+                0.4870579995601302,
+                -0.07599896233337687,
+                0.635589112997152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310228251726534,
+                    -0.9632490114300609,
+                    -0.1370393966283313
+                ],
+                [
+                    -0.6933893990741371,
+                    0.2618074881712666,
+                    -0.671318091808243
+                ],
+                [
+                    0.6825244285011735,
+                    -0.060068137281454055,
+                    -0.7283901587629283
+                ]
+            ],
+            "translation_vector": [
+                0.4870588706506954,
+                -0.07599896232520412,
+                0.6355893910037782
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310228251726534,
+                    -0.9632490114300609,
+                    -0.1370393966283313
+                ],
+                [
+                    -0.6933893990741371,
+                    0.2618074881712666,
+                    -0.671318091808243
+                ],
+                [
+                    0.6825244285011735,
+                    -0.060068137281454055,
+                    -0.7283901587629283
+                ]
+            ],
+            "translation_vector": [
+                0.4870588706506954,
+                -0.07599896232520412,
+                0.6355893910037782
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102880004559875,
+                    -0.9632484855631746,
+                    -0.13703302014384153
+                ],
+                [
+                    -0.6933893991442673,
+                    0.26180748811847326,
+                    -0.6713180917563957
+                ],
+                [
+                    0.682522406008655,
+                    -0.06007656968691867,
+                    -0.7283913584542381
+                ]
+            ],
+            "translation_vector": [
+                0.48706027741644975,
+                -0.07599896231605825,
+                0.6355886670547651
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102347305580612,
+                    -0.9632489544102169,
+                    -0.13703870520717354
+                ],
+                [
+                    -0.693389399076517,
+                    0.2618074881714759,
+                    -0.6713180918057032
+                ],
+                [
+                    0.6825242092010662,
+                    -0.06006905164032405,
+                    -0.7283902888489744
+                ]
+            ],
+            "translation_vector": [
+                0.48705861711712695,
+                -0.07599896232613539,
+                0.6355897289906811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102347305580612,
+                    -0.9632489544102169,
+                    -0.13703870520717354
+                ],
+                [
+                    -0.693389399076517,
+                    0.2618074881714759,
+                    -0.6713180918057032
+                ],
+                [
+                    0.6825242092010662,
+                    -0.06006905164032405,
+                    -0.7283902888489744
+                ]
+            ],
+            "translation_vector": [
+                0.48705861711712695,
+                -0.07599896232613539,
+                0.6355897289906811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102698238808766,
+                    -0.9632486455494149,
+                    -0.13703495997690784
+                ],
+                [
+                    -0.6933893991255445,
+                    0.2618074881315667,
+                    -0.6713180917706275
+                ],
+                [
+                    0.6825230212886382,
+                    -0.060074004406716154,
+                    -0.7283909934956442
+                ]
+            ],
+            "translation_vector": [
+                0.4870600524915069,
+                -0.07599896231787909,
+                0.6355886790474881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310155545112343,
+                    -0.9632496512442043,
+                    -0.13704715594198474
+                ],
+                [
+                    -0.6933893989992471,
+                    0.2618074882236419,
+                    -0.6713180918651689
+                ],
+                [
+                    0.6825268895284128,
+                    -0.06005787615248683,
+                    -0.728388698829631
+                ]
+            ],
+            "translation_vector": [
+                0.4870579709515357,
+                -0.07599896233248737,
+                0.63558943898614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310155545112343,
+                    -0.9632496512442043,
+                    -0.13704715594198474
+                ],
+                [
+                    -0.6933893989992471,
+                    0.2618074882236419,
+                    -0.6713180918651689
+                ],
+                [
+                    0.6825268895284128,
+                    -0.06005787615248683,
+                    -0.728388698829631
+                ]
+            ],
+            "translation_vector": [
+                0.4870579709515357,
+                -0.07599896233248737,
+                0.63558943898614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310289260329135,
+                    -0.9632484744705705,
+                    -0.1370328857106881
+                ],
+                [
+                    -0.6933893991326843,
+                    0.26180748813219507,
+                    -0.6713180917630084
+                ],
+                [
+                    0.6825223633746328,
+                    -0.06007674748212079,
+                    -0.7283913837391791
+                ]
+            ],
+            "translation_vector": [
+                0.4870592918918663,
+                -0.07599896232067292,
+                0.63558969301084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310221772892927,
+                    -0.9632490684490373,
+                    -0.13704008804936485
+                ],
+                [
+                    -0.6933893990717571,
+                    0.261807488171057,
+                    -0.6713180918107827
+                ],
+                [
+                    0.6825246478006658,
+                    -0.06006722292253042,
+                    -0.7283900286762258
+                ]
+            ],
+            "translation_vector": [
+                0.4870591241839431,
+                -0.07599896232427285,
+                0.6355890530166348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310221772892927,
+                    -0.9632490684490373,
+                    -0.13704008804936485
+                ],
+                [
+                    -0.6933893990717571,
+                    0.261807488171057,
+                    -0.6713180918107827
+                ],
+                [
+                    0.6825246478006658,
+                    -0.06006722292253042,
+                    -0.7283900286762258
+                ]
+            ],
+            "translation_vector": [
+                0.4870591241839431,
+                -0.07599896232427285,
+                0.6355890530166348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102464283391208,
+                    -0.9632488514594456,
+                    -0.1370374567974876
+                ],
+                [
+                    -0.6933893990928593,
+                    0.2618074881581729,
+                    -0.6713180917940113
+                ],
+                [
+                    0.6825238132322619,
+                    -0.06007070256263114,
+                    -0.7283905237333372
+                ]
+            ],
+            "translation_vector": [
+                0.48705909557556526,
+                -0.07599896232338328,
+                0.6355893790096854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103308323576915,
+                    -0.9632481085374797,
+                    -0.13702844905180384
+                ],
+                [
+                    -0.6933893991840921,
+                    0.261807488092496,
+                    -0.6713180917253921
+                ],
+                [
+                    0.6825209561249369,
+                    -0.06008261460411192,
+                    -0.7283922184322373
+                ]
+            ],
+            "translation_vector": [
+                0.4870604737335727,
+                -0.07599896231334781,
+                0.6355889810597815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103308323576915,
+                    -0.9632481085374797,
+                    -0.13702844905180384
+                ],
+                [
+                    -0.6933893991840921,
+                    0.261807488092496,
+                    -0.6713180917253921
+                ],
+                [
+                    0.6825209561249369,
+                    -0.06008261460411192,
+                    -0.7283922184322373
+                ]
+            ],
+            "translation_vector": [
+                0.4870604737335727,
+                -0.07599896231334781,
+                0.6355889810597815
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103009580785572,
+                    -0.9632483715066092,
+                    -0.13703163729912587
+                ],
+                [
+                    -0.6933893991490269,
+                    0.2618074881188922,
+                    -0.6713180917513162
+                ],
+                [
+                    0.6825219673964824,
+                    -0.060078398403605154,
+                    -0.7283916186135679
+                ]
+            ],
+            "translation_vector": [
+                0.4870597703503663,
+                -0.07599896231792079,
+                0.6355893430310007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103126558211937,
+                    -0.9632482685398186,
+                    -0.13703038888716057
+                ],
+                [
+                    -0.6933893991653698,
+                    0.2618074881055893,
+                    -0.671318091739624
+                ],
+                [
+                    0.6825215714163267,
+                    -0.06008004932491342,
+                    -0.7283918534858175
+                ]
+            ],
+            "translation_vector": [
+                0.48706024880855453,
+                -0.07599896231516866,
+                0.6355889930510928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103308323576915,
+                    -0.9632481085374797,
+                    -0.13702844905180384
+                ],
+                [
+                    -0.6933893991840921,
+                    0.261807488092496,
+                    -0.6713180917253921
+                ],
+                [
+                    0.6825209561249369,
+                    -0.06008261460411192,
+                    -0.7283922184322373
+                ]
+            ],
+            "translation_vector": [
+                0.4870604737335727,
+                -0.07599896231334781,
+                0.6355890573537268
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355900593282066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310349008877798,
+                    -0.9632479485283092,
+                    -0.13702650921547535
+                ],
+                [
+                    -0.693389399202815,
+                    0.2618074880794027,
+                    -0.6713180917111605
+                ],
+                [
+                    0.6825203408287066,
+                    -0.060085179882883984,
+                    -0.7283925833734914
+                ]
+            ],
+            "translation_vector": [
+                0.4870606986586227,
+                -0.075998962311527,
+                0.6355889690690691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310349008877798,
+                    -0.9632479485283092,
+                    -0.13702650921547535
+                ],
+                [
+                    -0.693389399202815,
+                    0.2618074880794027,
+                    -0.6713180917111605
+                ],
+                [
+                    0.6825203408287066,
+                    -0.060085179882883984,
+                    -0.7283925833734914
+                ]
+            ],
+            "translation_vector": [
+                0.4870606986586227,
+                -0.075998962311527,
+                0.6355889690690691
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.6355893953421513
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355897333303351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.635589319048206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.635589556762473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355895807424445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355895687521592
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355897213400498
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104242345238823,
+                    -0.9632472862311009,
+                    -0.1370184809931399
+                ],
+                [
+                    -0.6933893992545385,
+                    0.2618074880544733,
+                    -0.671318091667458
+                ],
+                [
+                    0.6825177943223733,
+                    -0.06009579658367938,
+                    -0.728394093651435
+                ]
+            ],
+            "translation_vector": [
+                0.4870596273051349,
+                -0.07599896231347293,
+                0.6355909730202218
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105280740161419,
+                    -0.9632463718239835,
+                    -0.13700739892343639
+                ],
+                [
+                    -0.6933893993529112,
+                    0.26180748798942766,
+                    -0.6713180915912187
+                ],
+                [
+                    0.6825142790131516,
+                    -0.0601104516752188,
+                    -0.7283961782866243
+                ]
+            ],
+            "translation_vector": [
+                0.4870602448611771,
+                -0.0759989623062312,
+                0.6355915890651772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105280740161419,
+                    -0.9632463718239835,
+                    -0.13700739892343639
+                ],
+                [
+                    -0.6933893993529112,
+                    0.26180748798942766,
+                    -0.6713180915912187
+                ],
+                [
+                    0.6825142790131516,
+                    -0.0601104516752188,
+                    -0.7283961782866243
+                ]
+            ],
+            "translation_vector": [
+                0.4870602448611771,
+                -0.0759989623062312,
+                0.6355915890651772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103450498224015,
+                    -0.9632479833753811,
+                    -0.13702693177209543
+                ],
+                [
+                    -0.6933893991772686,
+                    0.26180748810663684,
+                    -0.6713180917269256
+                ],
+                [
+                    0.682520474869581,
+                    -0.06008462111519449,
+                    -0.7283925038667312
+                ]
+            ],
+            "translation_vector": [
+                0.4870589811393926,
+                -0.07599896231982507,
+                0.6355906829897413
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104112769805363,
+                    -0.9632474003206967,
+                    -0.13701986384255438
+                ],
+                [
+                    -0.693389399249779,
+                    0.26180748805405424,
+                    -0.671318091672538
+                ],
+                [
+                    0.6825182329579502,
+                    -0.06009396786905328,
+                    -0.7283938335170822
+                ]
+            ],
+            "translation_vector": [
+                0.4870601343743128,
+                -0.07599896231161041,
+                0.635590373338203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104112769805363,
+                    -0.9632474003206967,
+                    -0.13701986384255438
+                ],
+                [
+                    -0.693389399249779,
+                    0.26180748805405424,
+                    -0.671318091672538
+                ],
+                [
+                    0.6825182329579502,
+                    -0.06009396786905328,
+                    -0.7283938335170822
+                ]
+            ],
+            "translation_vector": [
+                0.4870601343743128,
+                -0.07599896231161041,
+                0.635590373338203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105566881023817,
+                    -0.9632461198141581,
+                    -0.13700434509030554
+                ],
+                [
+                    -0.6933893993995602,
+                    0.2618074879493111,
+                    -0.6713180915586812
+                ],
+                [
+                    0.6825133102811779,
+                    -0.06011449007220671,
+                    -0.7283967527195521
+                ]
+            ],
+            "translation_vector": [
+                0.48706193377673745,
+                -0.07599896229704343,
+                0.6355902011565397
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310538511769508,
+                    -0.9632462799013864,
+                    -0.13700628493773775
+                ],
+                [
+                    -0.6933893993808373,
+                    0.26180748796240355,
+                    -0.6713180915729133
+                ],
+                [
+                    0.6825139256327167,
+                    -0.060111924798304586,
+                    -0.7283963878373245
+                ]
+            ],
+            "translation_vector": [
+                0.48706170885132266,
+                -0.07599896229886431,
+                0.635590213140408
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310538511769508,
+                    -0.9632462799013864,
+                    -0.13700628493773775
+                ],
+                [
+                    -0.6933893993808373,
+                    0.26180748796240355,
+                    -0.6713180915729133
+                ],
+                [
+                    0.6825139256327167,
+                    -0.060111924798304586,
+                    -0.7283963878373245
+                ]
+            ],
+            "translation_vector": [
+                0.48706170885132266,
+                -0.07599896229886431,
+                0.635590213140408
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104359321949935,
+                    -0.9632471832344914,
+                    -0.13701723257693282
+                ],
+                [
+                    -0.6933893992708815,
+                    0.26180748804117066,
+                    -0.6713180916557658
+                ],
+                [
+                    0.6825173983210897,
+                    -0.06009744750312723,
+                    -0.7283943285011357
+                ]
+            ],
+            "translation_vector": [
+                0.48706010576508696,
+                -0.07599896231072079,
+                0.6355906230445124
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104060580715907,
+                    -0.9632474462685459,
+                    -0.13702042083349067
+                ],
+                [
+                    -0.693389399235816,
+                    0.26180748806756643,
+                    -0.6713180916816903
+                ],
+                [
+                    0.682518409638638,
+                    -0.0600932313066708,
+                    -0.7283937287315618
+                ]
+            ],
+            "translation_vector": [
+                0.4870594023799527,
+                -0.07599896231529382,
+                0.635590985008455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104060580715907,
+                    -0.9632474462685459,
+                    -0.13702042083349067
+                ],
+                [
+                    -0.693389399235816,
+                    0.26180748806756643,
+                    -0.6713180916816903
+                ],
+                [
+                    0.682518409638638,
+                    -0.0600932313066708,
+                    -0.7283937287315618
+                ]
+            ],
+            "translation_vector": [
+                0.4870594023799527,
+                -0.07599896231529382,
+                0.635590985008455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103814028205988,
+                    -0.9632476633395203,
+                    -0.13702305209694599
+                ],
+                [
+                    -0.6933893992147137,
+                    0.26180748808045023,
+                    -0.6713180916984617
+                ],
+                [
+                    0.6825192442647064,
+                    -0.06008975167164614,
+                    -0.7283932337359913
+                ]
+            ],
+            "translation_vector": [
+                0.48705943098957455,
+                -0.07599896231618336,
+                0.6355906590098528
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099075488348578,
+                    -0.9632518327568911,
+                    -0.13707362200236956
+                ],
+                [
+                    -0.6933893987395147,
+                    0.2618074884071721,
+                    -0.6713180920618657
+                ],
+                [
+                    0.6825352832447652,
+                    -0.06002287650904112,
+                    -0.7283837185313581
+                ]
+            ],
+            "translation_vector": [
+                0.4870545684747293,
+                -0.07599896235890957,
+                0.635589944982941
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099075488348578,
+                    -0.9632518327568911,
+                    -0.13707362200236956
+                ],
+                [
+                    -0.6933893987395147,
+                    0.2618074884071721,
+                    -0.6713180920618657
+                ],
+                [
+                    0.6825352832447652,
+                    -0.06002287650904112,
+                    -0.7283837185313581
+                ]
+            ],
+            "translation_vector": [
+                0.4870545684747293,
+                -0.07599896235890957,
+                0.635589944982941
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23096894247370214,
+                    -0.9632537504249545,
+                    -0.13709689969083813
+                ],
+                [
+                    -0.6933893985148487,
+                    0.2618074885643135,
+                    -0.6713180922326342
+                ],
+                [
+                    0.6825426650692217,
+                    -0.05999209301155395,
+                    -0.7283793373897267
+                ]
+            ],
+            "translation_vector": [
+                0.48705186938555173,
+                -0.07599896238075841,
+                0.6355900890856028
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23092297727435646,
+                    -0.9632577882279563,
+                    -0.1371459513982595
+                ],
+                [
+                    -0.6933893980328399,
+                    0.2618074889052342,
+                    -0.6713180925975349
+                ],
+                [
+                    0.6825582182220087,
+                    -0.05992722395808465,
+                    -0.7283701027405468
+                ]
+            ],
+            "translation_vector": [
+                0.48704551430543086,
+                -0.07599896242995831,
+                0.635591077553117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23092297727435646,
+                    -0.9632577882279563,
+                    -0.1371459513982595
+                ],
+                [
+                    -0.6933893980328399,
+                    0.2618074889052342,
+                    -0.6713180925975349
+                ],
+                [
+                    0.6825582182220087,
+                    -0.05992722395808465,
+                    -0.7283701027405468
+                ]
+            ],
+            "translation_vector": [
+                0.48704551430543086,
+                -0.07599896242995831,
+                0.635591077553117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102268124016082,
+                    -0.9632490240853242,
+                    -0.1370395503177054
+                ],
+                [
+                    -0.6933893990254253,
+                    0.2618074882259454,
+                    -0.6713180918372319
+                ],
+                [
+                    0.6825244772693264,
+                    -0.06006793410375745,
+                    -0.7283901298210597
+                ]
+            ],
+            "translation_vector": [
+                0.48705518206413556,
+                -0.07599896234273147,
+                0.6355931568194398
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105604676712307,
+                    -0.963246086515249,
+                    -0.13700394178784475
+                ],
+                [
+                    -0.6933893993648099,
+                    0.2618074879904755,
+                    -0.6713180915785196
+                ],
+                [
+                    0.6825131823641629,
+                    -0.06011502345649712,
+                    -0.7283968285584224
+                ]
+            ],
+            "translation_vector": [
+                0.4870589771796938,
+                -0.07599896231088761,
+                0.635593279003807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105604676712307,
+                    -0.963246086515249,
+                    -0.13700394178784475
+                ],
+                [
+                    -0.6933893993648099,
+                    0.2618074879904755,
+                    -0.6713180915785196
+                ],
+                [
+                    0.6825131823641629,
+                    -0.06011502345649712,
+                    -0.7283968285584224
+                ]
+            ],
+            "translation_vector": [
+                0.4870589771796938,
+                -0.07599896231088761,
+                0.635593279003807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103229142389775,
+                    -0.9632481782283225,
+                    -0.13702929416457435
+                ],
+                [
+                    -0.693389399133,
+                    0.2618074881469645,
+                    -0.6713180917569218
+                ],
+                [
+                    0.682521224204347,
+                    -0.060081497068526696,
+                    -0.7283920594162214
+                ]
+            ],
+            "translation_vector": [
+                0.48705703868700545,
+                -0.07599896232994396,
+                0.6355924088934959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103047376953434,
+                    -0.9632483382276856,
+                    -0.13703123399950767
+                ],
+                [
+                    -0.6933893991142775,
+                    0.26180748816005794,
+                    -0.6713180917711538
+                ],
+                [
+                    0.6825218394936282,
+                    -0.060078931789142816,
+                    -0.7283916944675508
+                ]
+            ],
+            "translation_vector": [
+                0.4870568137620013,
+                -0.07599896233176483,
+                0.6355924208850682
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103047376953434,
+                    -0.9632483382276856,
+                    -0.13703123399950767
+                ],
+                [
+                    -0.6933893991142775,
+                    0.26180748816005794,
+                    -0.6713180917711538
+                ],
+                [
+                    0.6825218394936282,
+                    -0.060078931789142816,
+                    -0.7283916944675508
+                ]
+            ],
+            "translation_vector": [
+                0.4870568137620013,
+                -0.07599896233176483,
+                0.6355924208850682
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102372503109359,
+                    -0.9632489322277507,
+                    -0.13703843634125729
+                ],
+                [
+                    -0.6933893990533507,
+                    0.2618074881989199,
+                    -0.671318091818928
+                ],
+                [
+                    0.682524123934965,
+                    -0.06006940723089936,
+                    -0.7283903394209299
+                ]
+            ],
+            "translation_vector": [
+                0.48705664605917526,
+                -0.07599896233536473,
+                0.6355917808940377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102995187588213,
+                    -0.963248384164037,
+                    -0.137031790988808
+                ],
+                [
+                    -0.6933893991003148,
+                    0.26180748817357047,
+                    -0.6713180917803058
+                ],
+                [
+                    0.682522016166169,
+                    -0.06007819522604345,
+                    -0.7283915896733362
+                ]
+            ],
+            "translation_vector": [
+                0.4870560817637963,
+                -0.0759989623354482,
+                0.6355931088464725
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102995187588213,
+                    -0.963248384164037,
+                    -0.137031790988808
+                ],
+                [
+                    -0.6933893991003148,
+                    0.26180748817357047,
+                    -0.6713180917803058
+                ],
+                [
+                    0.682522016166169,
+                    -0.06007819522604345,
+                    -0.7283915896733362
+                ]
+            ],
+            "translation_vector": [
+                0.4870560817637963,
+                -0.0759989623354482,
+                0.6355931088464725
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102800823204506,
+                    -0.9632485552470045,
+                    -0.13703386525561437
+                ],
+                [
+                    -0.6933893990931754,
+                    0.2618074881729421,
+                    -0.671318091787925
+                ],
+                [
+                    0.6825226740830959,
+                    -0.06007545215089583,
+                    -0.7283911994329191
+                ]
+            ],
+            "translation_vector": [
+                0.48705684237316416,
+                -0.07599896233265435,
+                0.635592094892262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310243729139573,
+                    -0.963248875206701,
+                    -0.13703774491992834
+                ],
+                [
+                    -0.6933893990557306,
+                    0.2618074881991296,
+                    -0.6713180918163884
+                ],
+                [
+                    0.6825239046340035,
+                    -0.0600703215896939,
+                    -0.7283904695060646
+                ]
+            ],
+            "translation_vector": [
+                0.48705639252333827,
+                -0.07599896233629602,
+                0.6355921188788287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310243729139573,
+                    -0.963248875206701,
+                    -0.13703774491992834
+                ],
+                [
+                    -0.6933893990557306,
+                    0.2618074881991296,
+                    -0.6713180918163884
+                ],
+                [
+                    0.6825239046340035,
+                    -0.0600703215896939,
+                    -0.7283904695060646
+                ]
+            ],
+            "translation_vector": [
+                0.48705639252333827,
+                -0.07599896233629602,
+                0.6355921188788287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103281331694422,
+                    -0.9632481322894464,
+                    -0.13702873717491493
+                ],
+                [
+                    -0.6933893991469628,
+                    0.26180748813345195,
+                    -0.6713180917477698
+                ],
+                [
+                    0.6825210475300174,
+                    -0.060082233631468474,
+                    -0.728392164208527
+                ]
+            ],
+            "translation_vector": [
+                0.48705777068392275,
+                -0.07599896232626059,
+                0.6355917972249913
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103463096919843,
+                    -0.9632479722812906,
+                    -0.13702679733873072
+                ],
+                [
+                    -0.6933893991656856,
+                    0.26180748812035864,
+                    -0.6713180917335382
+                ],
+                [
+                    0.6825204322345058,
+                    -0.06008479891030391,
+                    -0.7283925291505485
+                ]
+            ],
+            "translation_vector": [
+                0.48705799560896806,
+                -0.07599896232443976,
+                0.6355917852341899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103463096919843,
+                    -0.9632479722812906,
+                    -0.13702679733873072
+                ],
+                [
+                    -0.6933893991656856,
+                    0.26180748812035864,
+                    -0.6713180917335382
+                ],
+                [
+                    0.6825204322345058,
+                    -0.06008479891030391,
+                    -0.7283925291505485
+                ]
+            ],
+            "translation_vector": [
+                0.48705799560896806,
+                -0.07599896232443976,
+                0.6355917852341899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103644861981423,
+                    -0.9632478122663026,
+                    -0.13702485750157442
+                ],
+                [
+                    -0.6933893991844079,
+                    0.26180748810726523,
+                    -0.6713180917193065
+                ],
+                [
+                    0.6825198169341533,
+                    -0.06008736418871347,
+                    -0.7283928940874034
+                ]
+            ],
+            "translation_vector": [
+                0.4870582205340453,
+                -0.07599896232261892,
+                0.635591620656097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103761839039194,
+                    -0.9632477092841456,
+                    -0.1370236090874234
+                ],
+                [
+                    -0.6933893992007509,
+                    0.2618074880939623,
+                    -0.6713180917076143
+                ],
+                [
+                    0.6825194209431098,
+                    -0.06008901510906299,
+                    -0.7283931289480329
+                ]
+            ],
+            "translation_vector": [
+                0.48705869899457965,
+                -0.07599896231986679,
+                0.6355914232676445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103761839039194,
+                    -0.9632477092841456,
+                    -0.1370236090874234
+                ],
+                [
+                    -0.6933893992007509,
+                    0.2618074880939623,
+                    -0.6713180917076143
+                ],
+                [
+                    0.6825194209431098,
+                    -0.06008901510906299,
+                    -0.7283931289480329
+                ]
+            ],
+            "translation_vector": [
+                0.48705869899457965,
+                -0.07599896231986679,
+                0.6355914232676445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103761839039194,
+                    -0.9632477092841456,
+                    -0.1370236090874234
+                ],
+                [
+                    -0.6933893992007509,
+                    0.2618074880939623,
+                    -0.6713180917076143
+                ],
+                [
+                    0.6825194209431098,
+                    -0.06008901510906299,
+                    -0.7283931289480329
+                ]
+            ],
+            "translation_vector": [
+                0.48705869899457965,
+                -0.07599896231986679,
+                0.6355913469736993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103761839039194,
+                    -0.9632477092841456,
+                    -0.1370236090874234
+                ],
+                [
+                    -0.6933893992007509,
+                    0.2618074880939623,
+                    -0.6713180917076143
+                ],
+                [
+                    0.6825194209431098,
+                    -0.06008901510906299,
+                    -0.7283931289480329
+                ]
+            ],
+            "translation_vector": [
+                0.48705869899457965,
+                -0.07599896231986679,
+                0.6355913469736993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103761839039194,
+                    -0.9632477092841456,
+                    -0.1370236090874234
+                ],
+                [
+                    -0.6933893992007509,
+                    0.2618074880939623,
+                    -0.6713180917076143
+                ],
+                [
+                    0.6825194209431098,
+                    -0.06008901510906299,
+                    -0.7283931289480329
+                ]
+            ],
+            "translation_vector": [
+                0.48705869899457965,
+                -0.07599896231986679,
+                0.6355913469736993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103697051178462,
+                    -0.96324776632294,
+                    -0.1370243005112768
+                ],
+                [
+                    -0.693389399198371,
+                    0.2618074880937529,
+                    -0.6713180917101541
+                ],
+                [
+                    0.6825196402566447,
+                    -0.06008810075137511,
+                    -0.7283929988763166
+                ]
+            ],
+            "translation_vector": [
+                0.4870589525296841,
+                -0.07599896231893552,
+                0.635591085280664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23108331106466248,
+                    -0.963243684365708,
+                    -0.13697484395672938
+                ],
+                [
+                    -0.6933893996456513,
+                    0.26180748779409124,
+                    -0.6713180913650338
+                ],
+                [
+                    0.682503951495108,
+                    -0.06015350251252828,
+                    -0.7284023011557827
+                ]
+            ],
+            "translation_vector": [
+                0.4870623510648441,
+                -0.07599896228357413,
+                0.635593099319534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23108331106466248,
+                    -0.963243684365708,
+                    -0.13697484395672938
+                ],
+                [
+                    -0.6933893996456513,
+                    0.26180748779409124,
+                    -0.6713180913650338
+                ],
+                [
+                    0.682503951495108,
+                    -0.06015350251252828,
+                    -0.7284023011557827
+                ]
+            ],
+            "translation_vector": [
+                0.4870623510648441,
+                -0.07599896228357413,
+                0.635593099319534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2311539445533275,
+                    -0.9632374538335505,
+                    -0.13689945744851167
+                ],
+                [
+                    -0.6933894003990203,
+                    0.2618074872561143,
+                    -0.6713180907967012
+                ],
+                [
+                    0.6824800314527341,
+                    -0.06025319202249156,
+                    -0.7284164739483701
+                ]
+            ],
+            "translation_vector": [
+                0.48707309426718265,
+                -0.07599896220332529,
+                0.6355905808713731
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23098413200222878,
+                    -0.9632524151217474,
+                    -0.13708068983375804
+                ],
+                [
+                    -0.6933893986670058,
+                    0.2618074884597608,
+                    -0.6713180921162496
+                ],
+                [
+                    0.682537524667608,
+                    -0.06001352971217628,
+                    -0.7283823883593706
+                ]
+            ],
+            "translation_vector": [
+                0.4870534152436852,
+                -0.07599896236712389,
+                0.6355903309895421
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23098413200222878,
+                    -0.9632524151217474,
+                    -0.13708068983375804
+                ],
+                [
+                    -0.6933893986670058,
+                    0.2618074884597608,
+                    -0.6713180921162496
+                ],
+                [
+                    0.682537524667608,
+                    -0.06001352971217628,
+                    -0.7283823883593706
+                ]
+            ],
+            "translation_vector": [
+                0.4870534152436852,
+                -0.07599896236712389,
+                0.6355903309895421
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105332928934993,
+                    -0.9632463258629667,
+                    -0.13700684193062707
+                ],
+                [
+                    -0.6933893993668742,
+                    0.26180748797591546,
+                    -0.6713180915820661
+                ],
+                [
+                    0.6825141023231337,
+                    -0.06011118823677916,
+                    -0.7283962830621873
+                ]
+            ],
+            "translation_vector": [
+                0.4870609768568985,
+                -0.07599896230254777,
+                0.6355909773973468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102957391410547,
+                    -0.9632484174425532,
+                    -0.13703219428836824
+                ],
+                [
+                    -0.693389399135064,
+                    0.26180748813240456,
+                    -0.6713180917604686
+                ],
+                [
+                    0.6825221440687347,
+                    -0.06007766184048035,
+                    -0.7283915138190445
+                ]
+            ],
+            "translation_vector": [
+                0.4870590383580112,
+                -0.0759989623216042,
+                0.6355901072920879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102957391410547,
+                    -0.9632484174425532,
+                    -0.13703219428836824
+                ],
+                [
+                    -0.693389399135064,
+                    0.26180748813240456,
+                    -0.6713180917604686
+                ],
+                [
+                    0.6825221440687347,
+                    -0.06007766184048035,
+                    -0.7283915138190445
+                ]
+            ],
+            "translation_vector": [
+                0.4870590383580112,
+                -0.0759989623216042,
+                0.6355901072920879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104476298593196,
+                    -0.9632470802350525,
+                    -0.13701598416032296
+                ],
+                [
+                    -0.6933893992872242,
+                    0.2618074880278678,
+                    -0.671318091644074
+                ],
+                [
+                    0.6825170023178011,
+                    -0.060099098422399085,
+                    -0.7283945633486963
+                ]
+            ],
+            "translation_vector": [
+                0.4870605842247274,
+                -0.07599896230796868,
+                0.6355901967747888
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104476298593196,
+                    -0.9632470802350525,
+                    -0.13701598416032296
+                ],
+                [
+                    -0.6933893992872242,
+                    0.2618074880278678,
+                    -0.671318091644074
+                ],
+                [
+                    0.6825170023178011,
+                    -0.060099098422399085,
+                    -0.7283945633486963
+                ]
+            ],
+            "translation_vector": [
+                0.4870605842247274,
+                -0.07599896230796868,
+                0.6355901967747888
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104658062741346,
+                    -0.9632469201819829,
+                    -0.1370140443177496
+                ],
+                [
+                    -0.693389399305947,
+                    0.2618074880147752,
+                    -0.6713180916298418
+                ],
+                [
+                    0.6825163869904655,
+                    -0.06010166369843267,
+                    -0.7283949282567546
+                ]
+            ],
+            "translation_vector": [
+                0.4870608091499826,
+                -0.0759989623061478,
+                0.6355902610818709
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101866794864787,
+                    -0.9632493772749701,
+                    -0.13704383327466993
+                ],
+                [
+                    -0.6933893990227292,
+                    0.2618074882109668,
+                    -0.6713180918458579
+                ],
+                [
+                    0.6825258356883869,
+                    -0.06006227015396368,
+                    -0.7283893240031883
+                ]
+            ],
+            "translation_vector": [
+                0.48705768880875155,
+                -0.0759989623325291,
+                0.6355901029619349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101866794864787,
+                    -0.9632493772749701,
+                    -0.13704383327466993
+                ],
+                [
+                    -0.6933893990227292,
+                    0.2618074882109668,
+                    -0.6713180918458579
+                ],
+                [
+                    0.6825258356883869,
+                    -0.06006227015396368,
+                    -0.7283893240031883
+                ]
+            ],
+            "translation_vector": [
+                0.48705768880875155,
+                -0.0759989623325291,
+                0.6355901029619349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310120451590632,
+                    -0.9632499600220787,
+                    -0.1370509011604515
+                ],
+                [
+                    -0.6933893989502193,
+                    0.2618074882635518,
+                    -0.671318091900244
+                ],
+                [
+                    0.6825280773820817,
+                    -0.06005292338092387,
+                    -0.7283879941202522
+                ]
+            ],
+            "translation_vector": [
+                0.4870565355755942,
+                -0.07599896234074362,
+                0.6355905652286489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.230993868359189,
+                    -0.9632515589473133,
+                    -0.1370702993577725
+                ],
+                [
+                    -0.6933893987629967,
+                    0.2618074883944958,
+                    -0.6713180920425555
+                ],
+                [
+                    0.6825342295178669,
+                    -0.060027270520469994,
+                    -0.7283843438256444
+                ]
+            ],
+            "translation_vector": [
+                0.48705428633054854,
+                -0.0759989623589514,
+                0.6355906089441036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.230993868359189,
+                    -0.9632515589473133,
+                    -0.1370702993577725
+                ],
+                [
+                    -0.6933893987629967,
+                    0.2618074883944958,
+                    -0.6713180920425555
+                ],
+                [
+                    0.6825342295178669,
+                    -0.060027270520469994,
+                    -0.7283843438256444
+                ]
+            ],
+            "translation_vector": [
+                0.48705428633054854,
+                -0.0759989623589514,
+                0.6355906089441036
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2309993214163546,
+                    -0.9632510793414762,
+                    -0.137064479908784
+                ],
+                [
+                    -0.6933893988191634,
+                    0.2618074883552123,
+                    -0.6713180919998621
+                ],
+                [
+                    0.6825323839279592,
+                    -0.06003496638307702,
+                    -0.7283854389682703
+                ]
+            ],
+            "translation_vector": [
+                0.4870549611037266,
+                -0.07599896235348907,
+                0.635590572934994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23099010698982114,
+                    -0.9632518897329038,
+                    -0.1370743134172903
+                ],
+                [
+                    -0.6933893987371349,
+                    0.26180748840696283,
+                    -0.6713180920644054
+                ],
+                [
+                    0.682535502513815,
+                    -0.06002196214743927,
+                    -0.7283835884121675
+                ]
+            ],
+            "translation_vector": [
+                0.4870548220085028,
+                -0.07599896235797832,
+                0.635589530705936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100529635894343,
+                    -0.9632505537649733,
+                    -0.13705810346561104
+                ],
+                [
+                    -0.693389398889293,
+                    0.2618074883024158,
+                    -0.6713180919480174
+                ],
+                [
+                    0.6825303616411965,
+                    -0.06004339880664563,
+                    -0.7283866388791632
+                ]
+            ],
+            "translation_vector": [
+                0.48705636787007217,
+                -0.07599896234434345,
+                0.6355899252563658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100529635894343,
+                    -0.9632505537649733,
+                    -0.13705810346561104
+                ],
+                [
+                    -0.693389398889293,
+                    0.2618074883024158,
+                    -0.6713180919480174
+                ],
+                [
+                    0.6825303616411965,
+                    -0.06004339880664563,
+                    -0.7283866388791632
+                ]
+            ],
+            "translation_vector": [
+                0.48705636787007217,
+                -0.07599896234434345,
+                0.6355899252563658
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23101620239672305,
+                    -0.9632495942341004,
+                    -0.1370464645222131
+                ],
+                [
+                    -0.6933893990016271,
+                    0.2618074882238512,
+                    -0.6713180918626291
+                ],
+                [
+                    0.6825266702352071,
+                    -0.06005879051196384,
+                    -0.7283888289230426
+                ]
+            ],
+            "translation_vector": [
+                0.48705771741792164,
+                -0.07599896233341863,
+                0.6355897769721888
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104164958881282,
+                    -0.9632473543722844,
+                    -0.1370193068515384
+                ],
+                [
+                    -0.6933893992637419,
+                    0.261807488040542,
+                    -0.6713180916633852
+                ],
+                [
+                    0.6825180562768631,
+                    -0.06009470443139991,
+                    -0.7283939383021769
+                ]
+            ],
+            "translation_vector": [
+                0.48706086636737594,
+                -0.07599896230792696,
+                0.6355896090788428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106346121211335,
+                    -0.9632454334249756,
+                    -0.13699602869649447
+                ],
+                [
+                    -0.6933893994884142,
+                    0.2618074878834292,
+                    -0.6713180914925992
+                ],
+                [
+                    0.6825106721288505,
+                    -0.06012548772443032,
+                    -0.7283983169640941
+                ]
+            ],
+            "translation_vector": [
+                0.48706356547188895,
+                -0.07599896228607643,
+                0.6355894652637063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23106346121211335,
+                    -0.9632454334249756,
+                    -0.13699602869649447
+                ],
+                [
+                    -0.6933893994884142,
+                    0.2618074878834292,
+                    -0.6713180914925992
+                ],
+                [
+                    0.6825106721288505,
+                    -0.06012548772443032,
+                    -0.7283983169640941
+                ]
+            ],
+            "translation_vector": [
+                0.48706356547188895,
+                -0.07599896228607643,
+                0.6355894652637063
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104710251676105,
+                    -0.9632468742276857,
+                    -0.13701348732589624
+                ],
+                [
+                    -0.6933893993199097,
+                    0.26180748800126297,
+                    -0.6713180916206893
+                ],
+                [
+                    0.6825162103052091,
+                    -0.06010240026041246,
+                    -0.7283950330373988
+                ]
+            ],
+            "translation_vector": [
+                0.4870615411430733,
+                -0.07599896230246439,
+                0.635589573116972
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104346723310093,
+                    -0.9632471943309168,
+                    -0.13701736701062964
+                ],
+                [
+                    -0.6933893992824648,
+                    0.261807488027449,
+                    -0.6713180916491535
+                ],
+                [
+                    0.6825174409578193,
+                    -0.0600972697081636,
+                    -0.7283943032190838
+                ]
+            ],
+            "translation_vector": [
+                0.48706109129257646,
+                -0.07599896230610613,
+                0.6355895970909534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.635589556762473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355896690272743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355897093503635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.6355892427542608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103373111562528,
+                    -0.9632480515038931,
+                    -0.13702775762869138
+                ],
+                [
+                    -0.6933893991864721,
+                    0.2618074880927054,
+                    -0.6713180917228527
+                ],
+                [
+                    0.6825207368150926,
+                    -0.06008352896212438,
+                    -0.7283923485078914
+                ]
+            ],
+            "translation_vector": [
+                0.48706022020039336,
+                -0.07599896231427912,
+                0.6355892427542608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104710251676105,
+                    -0.9632468742276857,
+                    -0.13701348732589624
+                ],
+                [
+                    -0.6933893993199097,
+                    0.26180748800126297,
+                    -0.6713180916206893
+                ],
+                [
+                    0.6825162103052091,
+                    -0.06010240026041246,
+                    -0.7283950330373988
+                ]
+            ],
+            "translation_vector": [
+                0.4870615411430733,
+                -0.07599896230246439,
+                0.6355894968230266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103736641684053,
+                    -0.9632477314738497,
+                    -0.1370238779543696
+                ],
+                [
+                    -0.6933893992239171,
+                    0.26180748806651893,
+                    -0.6713180916943888
+                ],
+                [
+                    0.68251950621434,
+                    -0.06008865951893903,
+                    -0.7283930783815503
+                ]
+            ],
+            "translation_vector": [
+                0.48706067005054815,
+                -0.07599896231063741,
+                0.6355892950678074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103736641684053,
+                    -0.9632477314738497,
+                    -0.1370238779543696
+                ],
+                [
+                    -0.6933893992239171,
+                    0.26180748806651893,
+                    -0.6713180916943888
+                ],
+                [
+                    0.68251950621434,
+                    -0.06008865951893903,
+                    -0.7283930783815503
+                ]
+            ],
+            "translation_vector": [
+                0.48706067005054815,
+                -0.07599896231063741,
+                0.6355892950678074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355895807424445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103191346256002,
+                    -0.963248211508667,
+                    -0.13702969746439456
+                ],
+                [
+                    -0.6933893991677494,
+                    0.26180748810579896,
+                    -0.6713180917370846
+                ],
+                [
+                    0.682521352108208,
+                    -0.060080963683078005,
+                    -0.7283919835633127
+                ]
+            ],
+            "translation_vector": [
+                0.48705999527536387,
+                -0.07599896231609997,
+                0.6355893310393038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900833089492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900833089492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310252907164805,
+                    -0.963248794437166,
+                    -0.13703676537598375
+                ],
+                [
+                    -0.6933893990952393,
+                    0.2618074881583824,
+                    -0.6713180917914713
+                ],
+                [
+                    0.6825235939304288,
+                    -0.060071616921348936,
+                    -0.7283906538175419
+                ]
+            ],
+            "translation_vector": [
+                0.4870588420420081,
+                -0.07599896232431454,
+                0.6355897169968018
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900953002189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900953002189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310338571026324,
+                    -0.9632480404100044,
+                    -0.13702762319535527
+                ],
+                [
+                    -0.693389399174889,
+                    0.26180748810642734,
+                    -0.6713180917294653
+                ],
+                [
+                    0.6825206941801601,
+                    -0.06008370675724661,
+                    -0.7283923737918613
+                ]
+            ],
+            "translation_vector": [
+                0.48705923467386664,
+                -0.07599896231889379,
+                0.6355903450024928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355902567180902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355902567180902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.635590244728232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.635590244728232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310356747539457,
+                    -0.9632478803979252,
+                    -0.1370256833586129
+                ],
+                [
+                    -0.6933893991936113,
+                    0.26180748809333393,
+                    -0.6713180917152336
+                ],
+                [
+                    0.6825200788818689,
+                    -0.06008627203583757,
+                    -0.7283927387309155
+                ]
+            ],
+            "translation_vector": [
+                0.48705945959893027,
+                -0.07599896231707297,
+                0.6355903330120355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896047248123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355895687521592
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310452848757502,
+                    -0.9632470342827171,
+                    -0.13701542716874876
+                ],
+                [
+                    -0.6933893993011871,
+                    0.26180748801435577,
+                    -0.6713180916349215
+                ],
+                [
+                    0.6825168256339346,
+                    -0.06009983498450121,
+                    -0.7283946681308242
+                ]
+            ],
+            "translation_vector": [
+                0.4870613162178089,
+                -0.07599896230428527,
+                0.6355895851036633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103736641684053,
+                    -0.9632477314738497,
+                    -0.1370238779543696
+                ],
+                [
+                    -0.6933893992239171,
+                    0.26180748806651893,
+                    -0.6713180916943888
+                ],
+                [
+                    0.68251950621434,
+                    -0.06008865951893903,
+                    -0.7283930783815503
+                ]
+            ],
+            "translation_vector": [
+                0.48706067005054815,
+                -0.07599896231063741,
+                0.6355892950678074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103736641684053,
+                    -0.9632477314738497,
+                    -0.1370238779543696
+                ],
+                [
+                    -0.6933893992239171,
+                    0.26180748806651893,
+                    -0.6713180916943888
+                ],
+                [
+                    0.68251950621434,
+                    -0.06008865951893903,
+                    -0.7283930783815503
+                ]
+            ],
+            "translation_vector": [
+                0.48706067005054815,
+                -0.07599896231063741,
+                0.6355892950678074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103009580785572,
+                    -0.9632483715066092,
+                    -0.13703163729912587
+                ],
+                [
+                    -0.6933893991490269,
+                    0.2618074881188922,
+                    -0.6713180917513162
+                ],
+                [
+                    0.6825219673964824,
+                    -0.060078398403605154,
+                    -0.7283916186135679
+                ]
+            ],
+            "translation_vector": [
+                0.4870597703503663,
+                -0.07599896231792079,
+                0.6355893430310007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893833516524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893833516524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103554876705232,
+                    -0.9632478914922873,
+                    -0.1370258177920165
+                ],
+                [
+                    -0.6933893992051947,
+                    0.2618074880796123,
+                    -0.6713180917086208
+                ],
+                [
+                    0.6825201215171367,
+                    -0.060086094240744764,
+                    -0.728392713447304
+                ]
+            ],
+            "translation_vector": [
+                0.48706044512545477,
+                -0.07599896231245827,
+                0.6355893070577071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103918406498994,
+                    -0.9632475714485805,
+                    -0.13702193811575067
+                ],
+                [
+                    -0.6933893992426395,
+                    0.2618074880534256,
+                    -0.6713180916801571
+                ],
+                [
+                    0.6825188909067026,
+                    -0.06009122479670714,
+                    -0.7283934433106304
+                ]
+            ],
+            "translation_vector": [
+                0.48706089497567345,
+                -0.07599896230881657,
+                0.6355892830785066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103918406498994,
+                    -0.9632475714485805,
+                    -0.13702193811575067
+                ],
+                [
+                    -0.6933893992426395,
+                    0.2618074880534256,
+                    -0.6713180916801571
+                ],
+                [
+                    0.6825188909067026,
+                    -0.06009122479670714,
+                    -0.7283934433106304
+                ]
+            ],
+            "translation_vector": [
+                0.48706089497567345,
+                -0.07599896230881657,
+                0.6355892830785066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104217147943729,
+                    -0.963247308423309,
+                    -0.1370187498604422
+                ],
+                [
+                    -0.6933893992777053,
+                    0.26180748802703,
+                    -0.6713180916542328
+                ],
+                [
+                    0.6825178795953775,
+                    -0.06009544099371171,
+                    -0.728394043086846
+                ]
+            ],
+            "translation_vector": [
+                0.4870615983591422,
+                -0.07599896230424356,
+                0.6355889211122099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104217147943729,
+                    -0.963247308423309,
+                    -0.1370187498604422
+                ],
+                [
+                    -0.6933893992777053,
+                    0.26180748802703,
+                    -0.6713180916542328
+                ],
+                [
+                    0.6825178795953775,
+                    -0.06009544099371171,
+                    -0.728394043086846
+                ]
+            ],
+            "translation_vector": [
+                0.4870615983591422,
+                -0.07599896230424356,
+                0.6355889211122099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355897453212195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310252907164805,
+                    -0.963248794437166,
+                    -0.13703676537598375
+                ],
+                [
+                    -0.6933893990952393,
+                    0.2618074881583824,
+                    -0.6713180917914713
+                ],
+                [
+                    0.6825235939304288,
+                    -0.060071616921348936,
+                    -0.7283906538175419
+                ]
+            ],
+            "translation_vector": [
+                0.4870588420420081,
+                -0.07599896232431454,
+                0.6355896407028564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310252907164805,
+                    -0.963248794437166,
+                    -0.13703676537598375
+                ],
+                [
+                    -0.6933893990952393,
+                    0.2618074881583824,
+                    -0.6713180917914713
+                ],
+                [
+                    0.6825235939304288,
+                    -0.060071616921348936,
+                    -0.7283906538175419
+                ]
+            ],
+            "translation_vector": [
+                0.4870588420420081,
+                -0.07599896232431454,
+                0.6355896407028564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310282781515131,
+                    -0.9632485314977196,
+                    -0.13703357713288522
+                ],
+                [
+                    -0.6933893991303043,
+                    0.2618074881319858,
+                    -0.6713180917655476
+                ],
+                [
+                    0.6825225826799161,
+                    -0.060075833123706505,
+                    -0.7283912536586569
+                ]
+            ],
+            "translation_vector": [
+                0.4870595454254007,
+                -0.0759989623197416,
+                0.6355893550232966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310252907164805,
+                    -0.963248794437166,
+                    -0.13703676537598375
+                ],
+                [
+                    -0.6933893990952393,
+                    0.2618074881583824,
+                    -0.6713180917914713
+                ],
+                [
+                    0.6825235939304288,
+                    -0.060071616921348936,
+                    -0.7283906538175419
+                ]
+            ],
+            "translation_vector": [
+                0.4870588420420081,
+                -0.07599896232431454,
+                0.6355897169968018
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103203944968026,
+                    -0.9632482004152518,
+                    -0.1370295630311258
+                ],
+                [
+                    -0.6933893991561664,
+                    0.26180748811952065,
+                    -0.671318091743697
+                ],
+                [
+                    0.6825213094736109,
+                    -0.060081141478229606,
+                    -0.7283920088476404
+                ]
+            ],
+            "translation_vector": [
+                0.4870590097488349,
+                -0.07599896232071462,
+                0.6355903569935492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310307436886722,
+                    -0.9632483144770249,
+                    -0.13703094587658243
+                ],
+                [
+                    -0.6933893991514067,
+                    0.2618074881191017,
+                    -0.6713180917487767
+                ],
+                [
+                    0.6825217480894735,
+                    -0.0600793127618677,
+                    -0.7283917486922485
+                ]
+            ],
+            "translation_vector": [
+                0.48705951681684334,
+                -0.07599896231885207,
+                0.6355896810187577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102710837551632,
+                    -0.9632486344572844,
+                    -0.137034825543822
+                ],
+                [
+                    -0.6933893991139618,
+                    0.2618074881452887,
+                    -0.6713180917772399
+                ],
+                [
+                    0.6825229786549512,
+                    -0.06007418220194802,
+                    -0.7283910187809435
+                ]
+            ],
+            "translation_vector": [
+                0.48705906696692125,
+                -0.07599896232249373,
+                0.6355897050035214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355900713182783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900833089492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900833089492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900070150038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103437899527382,
+                    -0.9632479944694383,
+                    -0.13702706620545546
+                ],
+                [
+                    -0.6933893991888518,
+                    0.26180748809291504,
+                    -0.6713180917203128
+                ],
+                [
+                    0.6825205175046328,
+                    -0.06008444332008278,
+                    -0.7283924785828891
+                ]
+            ],
+            "translation_vector": [
+                0.4870599666668931,
+                -0.07599896231521036,
+                0.6355896570363899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899067403159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103619664611647,
+                    -0.9632478344553975,
+                    -0.1370251263684337
+                ],
+                [
+                    -0.6933893992075745,
+                    0.2618074880798215,
+                    -0.6713180917060811
+                ],
+                [
+                    0.6825199022049514,
+                    -0.06008700859855161,
+                    -0.7283928435204602
+                ]
+            ],
+            "translation_vector": [
+                0.48706019159196595,
+                -0.07599896231338954,
+                0.6355896450461046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899067403159
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310393100516564,
+                    -0.9632475603532713,
+                    -0.13702180368221226
+                ],
+                [
+                    -0.6933893992310565,
+                    0.2618074880671474,
+                    -0.6713180916867697
+                ],
+                [
+                    0.6825188482707637,
+                    -0.060091402591740874,
+                    -0.7283934685935263
+                ]
+            ],
+            "translation_vector": [
+                0.48705990944915334,
+                -0.07599896231343124,
+                0.6355903090329179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103736641684053,
+                    -0.9632477314738497,
+                    -0.1370238779543696
+                ],
+                [
+                    -0.6933893992239171,
+                    0.26180748806651893,
+                    -0.6713180916943888
+                ],
+                [
+                    0.68251950621434,
+                    -0.06008865951893903,
+                    -0.7283930783815503
+                ]
+            ],
+            "translation_vector": [
+                0.48706067005054815,
+                -0.07599896231063741,
+                0.6355892187738621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103736641684053,
+                    -0.9632477314738497,
+                    -0.1370238779543696
+                ],
+                [
+                    -0.6933893992239171,
+                    0.26180748806651893,
+                    -0.6713180916943888
+                ],
+                [
+                    0.68251950621434,
+                    -0.06008865951893903,
+                    -0.7283930783815503
+                ]
+            ],
+            "translation_vector": [
+                0.48706067005054815,
+                -0.07599896231063741,
+                0.6355892187738621
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103320922281598,
+                    -0.9632480974437598,
+                    -0.13702831461849185
+                ],
+                [
+                    -0.693389399172509,
+                    0.26180748810621757,
+                    -0.6713180917320051
+                ],
+                [
+                    0.6825209134901246,
+                    -0.06008279239924416,
+                    -0.7283922437163345
+                ]
+            ],
+            "translation_vector": [
+                0.48705948820801986,
+                -0.0759989623179625,
+                0.6355900833089492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105073779386628,
+                    -0.9632465540971277,
+                    -0.1370096076372759
+                ],
+                [
+                    -0.6933893993573551,
+                    0.26180748797507725,
+                    -0.671318091592225
+                ],
+                [
+                    0.6825149796332363,
+                    -0.060107530810956274,
+                    -0.7283957628350495
+                ]
+            ],
+            "translation_vector": [
+                0.4870619909936978,
+                -0.07599896229882264,
+                0.6355896254393316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105332928934993,
+                    -0.9632463258629667,
+                    -0.13700684193062707
+                ],
+                [
+                    -0.6933893993668742,
+                    0.26180748797591546,
+                    -0.6713180915820661
+                ],
+                [
+                    0.6825141023231337,
+                    -0.06011118823677916,
+                    -0.7283962830621873
+                ]
+            ],
+            "translation_vector": [
+                0.4870609768568985,
+                -0.07599896230254777,
+                0.6355909011034014
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105332928934993,
+                    -0.9632463258629667,
+                    -0.13700684193062707
+                ],
+                [
+                    -0.6933893993668742,
+                    0.26180748797591546,
+                    -0.6713180915820661
+                ],
+                [
+                    0.6825141023231337,
+                    -0.06011118823677916,
+                    -0.7283962830621873
+                ]
+            ],
+            "translation_vector": [
+                0.4870609768568985,
+                -0.07599896230254777,
+                0.6355909011034014
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104762440597373,
+                    -0.9632468282728255,
+                    -0.13701293033396292
+                ],
+                [
+                    -0.6933893993338731,
+                    0.261807487987751,
+                    -0.6713180916115368
+                ],
+                [
+                    0.6825160336195535,
+                    -0.06010313682235711,
+                    -0.7283951378176178
+                ]
+            ],
+            "translation_vector": [
+                0.48706227313486705,
+                -0.07599896229878098,
+                0.6355888088569097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105696455522734,
+                    -0.963246005685601,
+                    -0.13700296223534872
+                ],
+                [
+                    -0.6933893994043198,
+                    0.26180748794973024,
+                    -0.6713180915536016
+                ],
+                [
+                    0.682512871617995,
+                    -0.06011631878440229,
+                    -0.7283970128244425
+                ]
+            ],
+            "translation_vector": [
+                0.48706142670774166,
+                -0.075998962298906,
+                0.6355908771359201
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105696455522734,
+                    -0.963246005685601,
+                    -0.13700296223534872
+                ],
+                [
+                    -0.6933893994043198,
+                    0.26180748794973024,
+                    -0.6713180915536016
+                ],
+                [
+                    0.682512871617995,
+                    -0.06011631878440229,
+                    -0.7283970128244425
+                ]
+            ],
+            "translation_vector": [
+                0.48706142670774166,
+                -0.075998962298906,
+                0.6355908771359201
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23105502093743124,
+                    -0.9632461768771347,
+                    -0.137005036517599
+                ],
+                [
+                    -0.6933893993971805,
+                    0.26180748794910147,
+                    -0.6713180915612209
+                ],
+                [
+                    0.6825135296118467,
+                    -0.06011357571602755,
+                    -0.7283966226661222
+                ]
+            ],
+            "translation_vector": [
+                0.4870621873107541,
+                -0.07599896229611215,
+                0.6355898631664887
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355900549836772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310302217950897,
+                    -0.9632483604136676,
+                    -0.13703150286592433
+                ],
+                [
+                    -0.6933893991374437,
+                    0.26180748813261395,
+                    -0.6713180917579288
+                ],
+                [
+                    0.682521924762221,
+                    -0.0600785761987865,
+                    -0.7283916438982536
+                ]
+            ],
+            "translation_vector": [
+                0.48705878482383513,
+                -0.07599896232253546,
+                0.6355902926912592
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100283079066897,
+                    -0.9632507706559325,
+                    -0.13706073470345492
+                ],
+                [
+                    -0.6933893988681908,
+                    0.2618074883153011,
+                    -0.6713180919647882
+                ],
+                [
+                    0.6825311961397129,
+                    -0.06003991916039555,
+                    -0.7283861437474678
+                ]
+            ],
+            "translation_vector": [
+                0.4870563964792362,
+                -0.07599896234523294,
+                0.6355895229783348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23100283079066897,
+                    -0.9632507706559325,
+                    -0.13706073470345492
+                ],
+                [
+                    -0.6933893988681908,
+                    0.2618074883153011,
+                    -0.6713180919647882
+                ],
+                [
+                    0.6825311961397129,
+                    -0.06003991916039555,
+                    -0.7283861437474678
+                ]
+            ],
+            "translation_vector": [
+                0.4870563964792362,
+                -0.07599896234523294,
+                0.6355895229783348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102840413886053,
+                    -0.9632485204052516,
+                    -0.13703344269975096
+                ],
+                [
+                    -0.6933893991187212,
+                    0.2618074881457074,
+                    -0.6713180917721605
+                ],
+                [
+                    0.6825225400459902,
+                    -0.06007601091891735,
+                    -0.7283912789437008
+                ]
+            ],
+            "translation_vector": [
+                0.4870585598988673,
+                -0.0759989623243563,
+                0.6355903809774588
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355899786897319
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102593859884057,
+                    -0.9632487374140192,
+                    -0.13703607395435646
+                ],
+                [
+                    -0.6933893990976192,
+                    0.2618074881585916,
+                    -0.6713180917889319
+                ],
+                [
+                    0.6825233746279815,
+                    -0.06007253128001234,
+                    -0.7283907839010902
+                ]
+            ],
+            "translation_vector": [
+                0.4870585885081302,
+                -0.07599896232524585,
+                0.6355899786897319
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102412093875044,
+                    -0.9632488973895046,
+                    -0.13703801378589275
+                ],
+                [
+                    -0.6933893990788966,
+                    0.2618074881716854,
+                    -0.6713180918031635
+                ],
+                [
+                    0.6825239899003441,
+                    -0.06006996599913947,
+                    -0.728390418934364
+                ]
+            ],
+            "translation_vector": [
+                0.4870583635832376,
+                -0.07599896232706668,
+                0.6355900669773431
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102775625729244,
+                    -0.9632485774317019,
+                    -0.13703413412184826
+                ],
+                [
+                    -0.6933893991163416,
+                    0.2618074881454981,
+                    -0.6713180917747001
+                ],
+                [
+                    0.6825227593507783,
+                    -0.06007509656045955,
+                    -0.7283911488626504
+                ]
+            ],
+            "translation_vector": [
+                0.48705881343305474,
+                -0.07599896232342501,
+                0.6355900429906103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102957391410547,
+                    -0.9632484174425532,
+                    -0.13703219428836824
+                ],
+                [
+                    -0.693389399135064,
+                    0.26180748813240456,
+                    -0.6713180917604686
+                ],
+                [
+                    0.6825221440687347,
+                    -0.06007766184048035,
+                    -0.7283915138190445
+                ]
+            ],
+            "translation_vector": [
+                0.4870590383580112,
+                -0.0759989623216042,
+                0.6355900309981425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102957391410547,
+                    -0.9632484174425532,
+                    -0.13703219428836824
+                ],
+                [
+                    -0.693389399135064,
+                    0.26180748813240456,
+                    -0.6713180917604686
+                ],
+                [
+                    0.6825221440687347,
+                    -0.06007766184048035,
+                    -0.7283915138190445
+                ]
+            ],
+            "translation_vector": [
+                0.4870590383580112,
+                -0.0759989623216042,
+                0.6355900309981425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23102957391410547,
+                    -0.9632484174425532,
+                    -0.13703219428836824
+                ],
+                [
+                    -0.693389399135064,
+                    0.26180748813240456,
+                    -0.6713180917604686
+                ],
+                [
+                    0.6825221440687347,
+                    -0.06007766184048035,
+                    -0.7283915138190445
+                ]
+            ],
+            "translation_vector": [
+                0.4870590383580112,
+                -0.0759989623216042,
+                0.6355900309981425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310313915692801,
+                    -0.9632482574465724,
+                    -0.13703025445391592
+                ],
+                [
+                    -0.6933893991537867,
+                    0.26180748811931115,
+                    -0.6713180917462368
+                ],
+                [
+                    0.6825215287818498,
+                    -0.060080227120075526,
+                    -0.7283918787702726
+                ]
+            ],
+            "translation_vector": [
+                0.48705926328299953,
+                -0.07599896231978336,
+                0.6355900190062735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103684452497247,
+                    -0.9632477774176398,
+                    -0.1370244349447281
+                ],
+                [
+                    -0.6933893992099541,
+                    0.2618074880800311,
+                    -0.6713180917035414
+                ],
+                [
+                    0.6825196828921517,
+                    -0.06008792295630382,
+                    -0.7283929735929602
+                ]
+            ],
+            "translation_vector": [
+                0.48705993805815634,
+                -0.07599896231432082,
+                0.6355899830342612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23104047982057377,
+                    -0.9632474573641926,
+                    -0.13702055526707677
+                ],
+                [
+                    -0.6933893992473992,
+                    0.26180748805384463,
+                    -0.6713180916750775
+                ],
+                [
+                    0.6825184522748161,
+                    -0.06009305351165847,
+                    -0.7283937034489213
+                ]
+            ],
+            "translation_vector": [
+                0.4870603879084205,
+                -0.07599896231067911,
+                0.6355899590559145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103256134279226,
+                    -0.9632481544766476,
+                    -0.13702900604150484
+                ],
+                [
+                    -0.6933893991701292,
+                    0.26180748810600823,
+                    -0.6713180917345449
+                ],
+                [
+                    0.6825211327994738,
+                    -0.06008187804118836,
+                    -0.7283921136401519
+                ]
+            ],
+            "translation_vector": [
+                0.48705974174185224,
+                -0.07599896231703125,
+                0.6355895927333289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103502687471367,
+                    -0.9632479374341159,
+                    -0.13702637478209606
+                ],
+                [
+                    -0.6933893991912317,
+                    0.2618074880931245,
+                    -0.6713180917177732
+                ],
+                [
+                    0.6825202981935584,
+                    -0.06008535767798709,
+                    -0.7283926086572304
+                ]
+            ],
+            "translation_vector": [
+                0.4870597131330721,
+                -0.07599896231614167,
+                0.6355899950243329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310452848757502,
+                    -0.9632470342827171,
+                    -0.13701542716874876
+                ],
+                [
+                    -0.6933893993011871,
+                    0.26180748801435577,
+                    -0.6713180916349215
+                ],
+                [
+                    0.6825168256339346,
+                    -0.06009983498450121,
+                    -0.7283946681308242
+                ]
+            ],
+            "translation_vector": [
+                0.4870613162178089,
+                -0.07599896230428527,
+                0.6355895851036633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310452848757502,
+                    -0.9632470342827171,
+                    -0.13701542716874876
+                ],
+                [
+                    -0.6933893993011871,
+                    0.26180748801435577,
+                    -0.6713180916349215
+                ],
+                [
+                    0.6825168256339346,
+                    -0.06009983498450121,
+                    -0.7283946681308242
+                ]
+            ],
+            "translation_vector": [
+                0.4870613162178089,
+                -0.07599896230428527,
+                0.6355895851036633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896210673311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103983194288602,
+                    -0.9632475144068203,
+                    -0.1370212466914754
+                ],
+                [
+                    -0.6933893992450193,
+                    0.2618074880536351,
+                    -0.6713180916776171
+                ],
+                [
+                    0.6825186715910667,
+                    -0.06009213915420989,
+                    -0.728393573380104
+                ]
+            ],
+            "translation_vector": [
+                0.48706064144220734,
+                -0.07599896230974781,
+                0.6355896973612762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.635589894750843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.635589556762473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103801429532062,
+                    -0.9632476744345251,
+                    -0.1370231865304405
+                ],
+                [
+                    -0.693389399226297,
+                    0.2618074880667283,
+                    -0.6713180916918492
+                ],
+                [
+                    0.6825192869004295,
+                    -0.060089573876593756,
+                    -0.7283932084528654
+                ]
+            ],
+            "translation_vector": [
+                0.4870604165170707,
+                -0.07599896231156869,
+                0.6355896330564184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.23103866217359253,
+                    -0.9632476173943322,
+                    -0.1370224951063884
+                ],
+                [
+                    -0.6933893992286768,
+                    0.26180748806693793,
+                    -0.6713180916893094
+                ],
+                [
+                    0.6825190675859042,
+                    -0.06009048823419418,
+                    -0.728393338523524
+                ]
+            ],
+            "translation_vector": [
+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237171/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe3fbabb51ca3c39054783d4b7babc4e9a292f
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/head_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.2685,
+        "fv": 236.259,
+        "pu": 480.7825,
+        "pv": 387.778,
+        "distortion_model": "equidistant",
+        "k1": 0.100896,
+        "k2": -0.0484948,
+        "k3": 0.0143345,
+        "k4": -0.00188306
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237171/parameters/camera/rs_camera_info.json b/parameters/1957/1237171/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d42b9cd4db0e5346de3135ac8a07834aacf71e
--- /dev/null
+++ b/parameters/1957/1237171/parameters/camera/rs_camera_info.json
@@ -0,0 +1,23 @@
+{
+    "d455_1": {
+        "SN": "246322300659",
+        "name": "head",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_1": {
+        "SN": "230322271141",
+        "name": "hand_left",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_2": {
+        "SN": "218622276006",
+        "name": "hand_right",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237515/parameters/camera/back_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/back_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.777058,
+                0.000000,
+                -0.629624
+            ],
+            [
+                0.609032,
+                -0.252871,
+                0.751592
+            ],
+            [
+                -0.159001,
+                -0.967678,
+                -0.196914
+            ]
+        ],
+        "translation_vector": [
+            -0.20355,
+            0.16055,
+            0.69999
+        ]
+    }
+}
diff --git a/parameters/1957/1237515/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237515/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..760c788fada62d59ff7026bc48dd99e61641b75c
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/back_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.086,
+        "fv": 236.247,
+        "pu": 481.539,
+        "pv": 386.717,
+        "distortion_model": "equidistant",
+        "k1": 0.0984594,
+        "k2": -0.0445249,
+        "k3": 0.0118172,
+        "k4": -0.00134209
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237515/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f97502230a7a3db6ed9b0f9b856c0eb24f38ce6
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/fisheye_camera_info.json
@@ -0,0 +1,42 @@
+{
+    "cam0": {
+        "SN": "CC6476088",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_left_fisheye",
+        "model": "HIK-031"
+    },
+    "cam3": {
+        "SN": "CC4953146",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_right_fisheye",
+        "model": "HIK-031"
+    },
+    "cam4": {
+        "SN": "CC2400140",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_center_fisheye",
+        "model": "HIK-031"
+    },
+    "cam5": {
+        "SN": "CC6794757",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_left_fisheye",
+        "model": "HIK-031"
+    },
+    "cam6": {
+        "SN": "CC7179471",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_right_fisheye",
+        "model": "HIK-031"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237515/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.8646710727343956,
+                -0.44356026800797427,
+                -0.23579275777903683
+            ],
+            [
+                0.5020752848459024,
+                0.7782889008447007,
+                0.3770766436268014
+            ],
+            [
+                0.016258669172335927,
+                -0.4444329819743825,
+                0.8956645466970895
+            ]
+        ],
+        "translation_vector": [
+            0.03145392238121546,
+            -0.06329102366421271,
+            0.05407264508531332
+        ]
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237515/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c33bb27c3e6ed04d51f5fc79e9f6295e3ad3bce
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 328.58921266951654,
+        "fy": 434.75579833984375,
+        "ppx": 319.9744343307783,
+        "ppy": 244.5061492919922,
+        "distortion_model": "plumb bob",
+        "k1": -0.05443718284368515,
+        "k2": 0.060957569628953934,
+        "k3": -0.020754536613821983,
+        "p1": -0.00029984445427544415,
+        "p2": 0.00019765457545872778
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237515/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3f71c703e5fb6012d03b45e9eba437079bd9ae
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652533374645621,
+                    -0.25812546287007865,
+                    0.04070921187681865
+                ],
+                [
+                    -0.17254098656959788,
+                    -0.5125554646552887,
+                    0.841140002381049
+                ],
+                [
+                    -0.1962539234438739,
+                    -0.8189372021529543,
+                    -0.5392830949165544
+                ]
+            ],
+            "translation_vector": [
+                0.6309258913399339,
+                -0.2560100105079993,
+                0.46152807969354487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652531565073799,
+                    -0.2581246017227118,
+                    0.04071896165218036
+                ],
+                [
+                    -0.17255202562719021,
+                    -0.5125681383885374,
+                    0.8411300148971401
+                ],
+                [
+                    -0.19624510772117057,
+                    -0.8189295412270833,
+                    -0.5392979363961128
+                ]
+            ],
+            "translation_vector": [
+                0.6309317558972776,
+                -0.2560084273531576,
+                0.46152310228482624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965258067384381,
+                    -0.2581070529572926,
+                    0.040713788365503996
+                ],
+                [
+                    -0.1725316177476714,
+                    -0.5125438107562552,
+                    0.8411490254008664
+                ],
+                [
+                    -0.19623889580493728,
+                    -0.8189502984120328,
+                    -0.5392686756192144
+                ]
+            ],
+            "translation_vector": [
+                0.63092854248282,
+                -0.2560057801520627,
+                0.46153318044737285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965269135531862,
+                    -0.25807045144720536,
+                    0.0406833882488604
+                ],
+                [
+                    -0.17248711482253823,
+                    -0.5125562931421913,
+                    0.8411505463236251
+                ],
+                [
+                    -0.19622357455150083,
+                    -0.81895402096221,
+                    -0.539268597583857
+                ]
+            ],
+            "translation_vector": [
+                0.6309184282684264,
+                -0.2559980700740988,
+                0.46153706847558346
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652599996438804,
+                    -0.2581015510264424,
+                    0.04070285549246883
+                ],
+                [
+                    -0.17252776191455566,
+                    -0.5125806539294645,
+                    0.8411273652580784
+                ],
+                [
+                    -0.1962327812987687,
+                    -0.8189289728511181,
+                    -0.5393032847746825
+                ]
+            ],
+            "translation_vector": [
+                0.6309259873165083,
+                -0.2560024012603107,
+                0.46152079295148585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652539778420395,
+                    -0.25812422563930904,
+                    0.040701872171032216
+                ],
+                [
+                    -0.1725379397929862,
+                    -0.5125724026883893,
+                    0.8411303057994308
+                ],
+                [
+                    -0.19625345243361159,
+                    -0.818926990726499,
+                    -0.5392987727294857
+                ]
+            ],
+            "translation_vector": [
+                0.6309261222612118,
+                -0.25600488822707584,
+                0.4615195163947628
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652615520463124,
+                    -0.2581005646483001,
+                    0.040672283798345546
+                ],
+                [
+                    -0.17250188892316212,
+                    -0.5125862175984798,
+                    0.8411292812915415
+                ],
+                [
+                    -0.19624789033027978,
+                    -0.8189258013131062,
+                    -0.5393026028906238
+                ]
+            ],
+            "translation_vector": [
+                0.6309180862751204,
+                -0.2559955945601656,
+                0.4615197015418417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96525195849332,
+                    -0.2581315304422456,
+                    0.04070343494540452
+                ],
+                [
+                    -0.17254376640770355,
+                    -0.5125735412130954,
+                    0.8411284167843288
+                ],
+                [
+                    -0.19625826173349892,
+                    -0.8189239756166699,
+                    -0.5393016010188865
+                ]
+            ],
+            "translation_vector": [
+                0.6309301474587206,
+                -0.2560061161828633,
+                0.46151891968790265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652668393660494,
+                    -0.2580764637664712,
+                    0.04069972567562395
+                ],
+                [
+                    -0.17250382631388503,
+                    -0.5125522232079309,
+                    0.8411495992935364
+                ],
+                [
+                    -0.19622017920526602,
+                    -0.8189546735530612,
+                    -0.5392688419872342
+                ]
+            ],
+            "translation_vector": [
+                0.6309221148107134,
+                -0.2559987975793393,
+                0.4615375479450161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652527795894511,
+                    -0.2581311542480456,
+                    0.04068634539265533
+                ],
+                [
+                    -0.17252968049736786,
+                    -0.5125778053768582,
+                    0.841128707620017
+                ],
+                [
+                    -0.19626660653894976,
+                    -0.8189214251939044,
+                    -0.539302436964705
+                ]
+            ],
+            "translation_vector": [
+                0.6309245137440885,
+                -0.2560025770789699,
+                0.46151533386110843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965255564386904,
+                    -0.25812247116810627,
+                    0.04067536475791465
+                ],
+                [
+                    -0.1725085681729427,
+                    -0.5125504303720958,
+                    0.8411497192725562
+                ],
+                [
+                    -0.19627146844878,
+                    -0.8189412959446173,
+                    -0.5392704928600396
+                ]
+            ],
+            "translation_vector": [
+                0.6309241517663331,
+                -0.25600291744468656,
+                0.46152893505836046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652643145622644,
+                    -0.2580893506692815,
+                    0.040677882242700455
+                ],
+                [
+                    -0.172502805410394,
+                    -0.5125965388800117,
+                    0.8411228034322793
+                ],
+                [
+                    -0.19623349652438582,
+                    -0.8189228751227687,
+                    -0.5393122837860015
+                ]
+            ],
+            "translation_vector": [
+                0.6309155563479353,
+                -0.2560014084589163,
+                0.4615251286846721
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652551778775394,
+                    -0.2581172850567185,
+                    0.04071742545334276
+                ],
+                [
+                    -0.17254621326656944,
+                    -0.5125669908087186,
+                    0.8411319065525114
+                ],
+                [
+                    -0.1962402758558175,
+                    -0.8189325656537563,
+                    -0.5392951020024092
+                ]
+            ],
+            "translation_vector": [
+                0.6309277334464924,
+                -0.25600720335623217,
+                0.46152378238653247
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965260428216619,
+                    -0.25810037745615333,
+                    0.0407001336123221
+                ],
+                [
+                    -0.17251099502398848,
+                    -0.5125233909463797,
+                    0.8411656973085968
+                ],
+                [
+                    -0.19624541348755917,
+                    -0.8189651817322979,
+                    -0.539243700746964
+                ]
+            ],
+            "translation_vector": [
+                0.63092572558824,
+                -0.25599715823428015,
+                0.4615260435252106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652566473595383,
+                    -0.25811563000767074,
+                    0.040693074029462185
+                ],
+                [
+                    -0.17251291229572052,
+                    -0.5125205425582717,
+                    0.8411670396223474
+                ],
+                [
+                    -0.19626232399386564,
+                    -0.8189621572463028,
+                    -0.5392421396543569
+                ]
+            ],
+            "translation_vector": [
+                0.6309267163408336,
+                -0.2559973339898451,
+                0.4615259094421524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652693217957765,
+                    -0.25806967405865316,
+                    0.040683900147142876
+                ],
+                [
+                    -0.17248711482185414,
+                    -0.5125562931393357,
+                    0.8411505463255055
+                ],
+                [
+                    -0.19622265827461083,
+                    -0.8189542659358484,
+                    -0.539268558962157
+                ]
+            ],
+            "translation_vector": [
+                0.6309183399531807,
+                -0.2559980700744233,
+                0.46153761931392295
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652526647358667,
+                    -0.25813011845874556,
+                    0.04069564061153109
+                ],
+                [
+                    -0.17252899244797976,
+                    -0.5125436168978057,
+                    0.8411496820080244
+                ],
+                [
+                    -0.19626777622726005,
+                    -0.8189431498717049,
+                    -0.5392690212621309
+                ]
+            ],
+            "translation_vector": [
+                0.6309255612615182,
+                -0.25600859171427615,
+                0.4615257131709386
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652629365646015,
+                    -0.2580928586882662,
+                    0.04068832251151414
+                ],
+                [
+                    -0.1725101483682976,
+                    -0.5125808151756565,
+                    0.841130879604243
+                ],
+                [
+                    -0.19623381972695284,
+                    -0.8189316114352764,
+                    -0.5392989002282422
+                ]
+            ],
+            "translation_vector": [
+                0.6309196064920817,
+                -0.2559979056648173,
+                0.46152443484882905
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652473895536542,
+                    -0.2581533523664708,
+                    0.04067337731009108
+                ],
+                [
+                    -0.172529502313217,
+                    -0.5125710612684974,
+                    0.84113285394261
+                ],
+                [
+                    -0.1962932698576543,
+                    -0.8189186490806271,
+                    -0.539296948254439
+                ]
+            ],
+            "translation_vector": [
+                0.6309165990533716,
+                -0.2560064758599654,
+                0.4615077989193412
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652576030865593,
+                    -0.25810909749734107,
+                    0.040711834553340945
+                ],
+                [
+                    -0.17253793966823885,
+                    -0.5125724025905088,
+                    0.8411303058846665
+                ],
+                [
+                    -0.19623562127868033,
+                    -0.8189317589956453,
+                    -0.5392980206246532
+                ]
+            ],
+            "translation_vector": [
+                0.630928498208828,
+                -0.25600488817674427,
+                0.46152531599717794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965257211118303,
+                    -0.2581130807047405,
+                    0.04069587145183276
+                ],
+                [
+                    -0.1725214407146526,
+                    -0.5125520621390968,
+                    0.8411460848691504
+                ],
+                [
+                    -0.19625205445512298,
+                    -0.8189432343978841,
+                    -0.5392746146037989
+                ]
+            ],
+            "translation_vector": [
+                0.63092347923171,
+                -0.25600329326151733,
+                0.4615238069532533
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652591656513231,
+                    -0.25810796993750407,
+                    0.040681924497897065
+                ],
+                [
+                    -0.17250664702363763,
+                    -0.5125532835607768,
+                    0.8411483746900594
+                ],
+                [
+                    -0.19625544542451334,
+                    -0.8189440807318941,
+                    -0.539272095305718
+                ]
+            ],
+            "translation_vector": [
+                0.630923247627364,
+                -0.256002741395053,
+                0.4615285185371369
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652562187882607,
+                    -0.2581168035707926,
+                    0.040695795912928816
+                ],
+                [
+                    -0.17252968037330269,
+                    -0.5125778052818347,
+                    0.8411287077033714
+                ],
+                [
+                    -0.1962496916707792,
+                    -0.8189259485734072,
+                    -0.5393017237801765
+                ]
+            ],
+            "translation_vector": [
+                0.6309269780686375,
+                -0.2560025770283134,
+                0.46152065888130034
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652569249007087,
+                    -0.25811539183668725,
+                    0.040688001034966954
+                ],
+                [
+                    -0.1725149064496446,
+                    -0.5125478809830432,
+                    0.8411499728065517
+                ],
+                [
+                    -0.1962592061124736,
+                    -0.8189451228237371,
+                    -0.539269144137986
+                ]
+            ],
+            "translation_vector": [
+                0.6309223918438825,
+                -0.256005052587923,
+                0.4615273760620871
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652491400947742,
+                    -0.2581472034830458,
+                    0.040670860332450785
+                ],
+                [
+                    -0.1725304111428039,
+                    -0.5125987251360249,
+                    0.8411158090416664
+                ],
+                [
+                    -0.1962838627528861,
+                    -0.818903271652278,
+                    -0.5393237218035206
+                ]
+            ],
+            "translation_vector": [
+                0.6309269934010748,
+                -0.2560010418521899,
+                0.4615061204298535
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652534300290786,
+                    -0.2581283332060168,
+                    0.04068881189445956
+                ],
+                [
+                    -0.17252335858380138,
+                    -0.5125492135886929,
+                    0.8411474272638404
+                ],
+                [
+                    -0.19626896484178089,
+                    -0.8189402098113734,
+                    -0.5392730534655332
+                ]
+            ],
+            "translation_vector": [
+                0.630924469981904,
+                -0.25600346902537224,
+                0.46152367286333135
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965231440469671,
+                    -0.25820034497593464,
+                    0.04075350516400678
+                ],
+                [
+                    -0.17262172511293983,
+                    -0.5125519948984174,
+                    0.8411255509997813
+                ],
+                [
+                    -0.19629061706530176,
+                    -0.8189157675731745,
+                    -0.5393022893259048
+                ]
+            ],
+            "translation_vector": [
+                0.6309375999029025,
+                -0.2560085373876555,
+                0.46150411172430605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652273542363822,
+                    -0.2582198472567369,
+                    0.04072671256732214
+                ],
+                [
+                    -0.17261154796307152,
+                    -0.5125602480689252,
+                    0.8411226103305715
+                ],
+                [
+                    -0.19631965806720947,
+                    -0.8189044526574694,
+                    -0.5393088996800857
+                ]
+            ],
+            "translation_vector": [
+                0.6309299995024847,
+                -0.25600605031087237,
+                0.461489923636573
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965210917668892,
+                    -0.25827068957441135,
+                    0.040793814721518246
+                ],
+                [
+                    -0.17268992808627073,
+                    -0.5125215682395138,
+                    0.8411300915000417
+                ],
+                [
+                    -0.1963315388579588,
+                    -0.8189126284262979,
+                    -0.5392921600149574
+                ]
+            ],
+            "translation_vector": [
+                0.6309417212201379,
+                -0.2560164065498107,
+                0.46149163500088664
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651915137447881,
+                    -0.25833774829635814,
+                    0.04082829411342301
+                ],
+                [
+                    -0.17275363808211472,
+                    -0.5125014574607976,
+                    0.8411292627354918
+                ],
+                [
+                    -0.19637087952249535,
+                    -0.8189040626994875,
+                    -0.5392908433951347
+                ]
+            ],
+            "translation_vector": [
+                0.6309593495554084,
+                -0.2560124289448136,
+                0.4614761872575184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651799943356135,
+                    -0.25836837395096574,
+                    0.040906746096934885
+                ],
+                [
+                    -0.1728337481040289,
+                    -0.5124771254307331,
+                    0.8411276308780765
+                ],
+                [
+                    -0.19635700662471456,
+                    -0.8189096282571029,
+                    -0.5392874434818552
+                ]
+            ],
+            "translation_vector": [
+                0.6309693969451701,
+                -0.2560298233021078,
+                0.46147449063673657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651756493150963,
+                    -0.2583832966929618,
+                    0.040915008972986645
+                ],
+                [
+                    -0.17285181415215498,
+                    -0.512486721045611,
+                    0.8411180720304535
+                ],
+                [
+                    -0.19636246156913892,
+                    -0.8188989148496874,
+                    -0.5393017253305551
+                ]
+            ],
+            "translation_vector": [
+                0.630966084244716,
+                -0.2560511455860301,
+                0.4614927720918852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651462503804699,
+                    -0.25848741652054835,
+                    0.040950834876128855
+                ],
+                [
+                    -0.17293837297709247,
+                    -0.5124682873005268,
+                    0.8411115108374755
+                ],
+                [
+                    -0.19643073722957785,
+                    -0.8188775915921725,
+                    -0.5393092391751205
+                ]
+            ],
+            "translation_vector": [
+                0.630986521404101,
+                -0.2560654877677992,
+                0.4614734526111839
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651345379540337,
+                    -0.25852501867865835,
+                    0.04098949091478732
+                ],
+                [
+                    -0.17299594090799303,
+                    -0.5124778636827622,
+                    0.8410938376094016
+                ],
+                [
+                    -0.19643759334102084,
+                    -0.8188597278852782,
+                    -0.5393338650317039
+                ]
+            ],
+            "translation_vector": [
+                0.6309922781934622,
+                -0.25608046913556165,
+                0.4614705774698669
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651096179490984,
+                    -0.2585906249244885,
+                    0.04116204615064738
+                ],
+                [
+                    -0.17317560227555043,
+                    -0.5124429480727393,
+                    0.8410781389068559
+                ],
+                [
+                    -0.19640172127210567,
+                    -0.8188608634387667,
+                    -0.5393452050493003
+                ]
+            ],
+            "translation_vector": [
+                0.631032647845691,
+                -0.25609988450380566,
+                0.46147746867541045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651249537031982,
+                    -0.2585558226942428,
+                    0.0410208518963603
+                ],
+                [
+                    -0.17303859775151717,
+                    -0.5124680469792934,
+                    0.841091044128647
+                ],
+                [
+                    -0.19644711101868745,
+                    -0.8188561457155538,
+                    -0.5393358371147606
+                ]
+            ],
+            "translation_vector": [
+                0.6310029527947215,
+                -0.25609057978877414,
+                0.4614730037042106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651257987079258,
+                    -0.25854085666009646,
+                    0.041095232154743505
+                ],
+                [
+                    -0.1730909833478246,
+                    -0.5124520168136715,
+                    0.8410900320104169
+                ],
+                [
+                    -0.19639680280511676,
+                    -0.8188709030739,
+                    -0.5393317531416669
+                ]
+            ],
+            "translation_vector": [
+                0.6310089594520434,
+                -0.25610098320311653,
+                0.46148137753936785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651046302239524,
+                    -0.25860208421400493,
+                    0.041206974657947294
+                ],
+                [
+                    -0.1732128553283101,
+                    -0.5124075935536087,
+                    0.8410920073437944
+                ],
+                [
+                    -0.19639337939274318,
+                    -0.818879368471799,
+                    -0.5393201465010609
+                ]
+            ],
+            "translation_vector": [
+                0.631039121280396,
+                -0.2561053852728571,
+                0.4614776497671342
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650933332897312,
+                    -0.2586567634419737,
+                    0.041128296408175447
+                ],
+                [
+                    -0.1731778052273178,
+                    -0.5124164863531313,
+                    0.8410938070691999
+                ],
+                [
+                    -0.19647978475243974,
+                    -0.8188565339784706,
+                    -0.539323345447238
+                ]
+            ],
+            "translation_vector": [
+                0.6310329818527697,
+                -0.25610592646498054,
+                0.4614646078774016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651215773315125,
+                    -0.2585700773160089,
+                    0.041010438743406
+                ],
+                [
+                    -0.17302987098829029,
+                    -0.512435395402753,
+                    0.8411127328035166
+                ],
+                [
+                    -0.19647138395936725,
+                    -0.8188720783218936,
+                    -0.5393028042110235
+                ]
+            ],
+            "translation_vector": [
+                0.6309955543107373,
+                -0.2560977134974544,
+                0.4614794798775007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650916059682219,
+                    -0.25864238120471617,
+                    0.041259068511455464
+                ],
+                [
+                    -0.17326961139322256,
+                    -0.5123585029495593,
+                    0.8411102223983064
+                ],
+                [
+                    -0.19640731620110374,
+                    -0.8188973580980957,
+                    -0.5392877553242229
+                ]
+            ],
+            "translation_vector": [
+                0.6310525446089515,
+                -0.2561107251378881,
+                0.4614934179054959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650921333957835,
+                    -0.25865970675882577,
+                    0.041137940602486656
+                ],
+                [
+                    -0.17317974250578685,
+                    -0.5123824895199288,
+                    0.841114119022496
+                ],
+                [
+                    -0.19648397095744188,
+                    -0.8188768775174925,
+                    -0.5392909313385466
+                ]
+            ],
+            "translation_vector": [
+                0.6310319238382044,
+                -0.25610913049009976,
+                0.46147271318785454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651010500263962,
+                    -0.25862852995809416,
+                    0.04112477026881564
+                ],
+                [
+                    -0.17314553807377178,
+                    -0.5123623508286889,
+                    0.841133428237425
+                ],
+                [
+                    -0.19647031807143717,
+                    -0.8188993252805956,
+                    -0.5392618187595832
+                ]
+            ],
+            "translation_vector": [
+                0.6310257005444798,
+                -0.25610301147635783,
+                0.4614840135206899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650913126291242,
+                    -0.2586561854906691,
+                    0.04117931513771207
+                ],
+                [
+                    -0.1732159444224323,
+                    -0.5123915082929105,
+                    0.8411011703874637
+                ],
+                [
+                    -0.1964560889502772,
+                    -0.8188723465453775,
+                    -0.5393079687688918
+                ]
+            ],
+            "translation_vector": [
+                0.6310368508921971,
+                -0.25611724193089275,
+                0.4614705344551749
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651077508798519,
+                    -0.25859580023797,
+                    0.04117330799095181
+                ],
+                [
+                    -0.17316979712056124,
+                    -0.5123654393333452,
+                    0.8411265528694075
+                ],
+                [
+                    -0.19641601400307848,
+                    -0.8189077290366923,
+                    -0.5392688390470104
+                ]
+            ],
+            "translation_vector": [
+                0.6310326940304131,
+                -0.2560990478953973,
+                0.4614875857883281
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650792601329505,
+                    -0.2586839635345224,
+                    0.041287148984968824
+                ],
+                [
+                    -0.17330904809752093,
+                    -0.5123213865164141,
+                    0.8411247058346524
+                ],
+                [
+                    -0.19643318331882817,
+                    -0.8189074452756974,
+                    -0.5392630161278101
+                ]
+            ],
+            "translation_vector": [
+                0.6310613926994586,
+                -0.25612062643753614,
+                0.4614823895395745
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651089956412606,
+                    -0.2585982204026418,
+                    0.041128906342182595
+                ],
+                [
+                    -0.1731371353884944,
+                    -0.5123848115910671,
+                    0.841121475888146
+                ],
+                [
+                    -0.1964386898800322,
+                    -0.8188948438324507,
+                    -0.5392801459935672
+                ]
+            ],
+            "translation_vector": [
+                0.6310257959324069,
+                -0.256110109037291,
+                0.4614860711672393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650691950830405,
+                    -0.2587286516001426,
+                    0.04124237557349162
+                ],
+                [
+                    -0.173290034844754,
+                    -0.5122978871906146,
+                    0.8411429358935
+                ],
+                [
+                    -0.1964993957376887,
+                    -0.8189080287927362,
+                    -0.5392380066849135
+                ]
+            ],
+            "translation_vector": [
+                0.6310604678654507,
+                -0.25611724396259655,
+                0.4614801842790288
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965091088762532,
+                    -0.25864523784761634,
+                    0.04125325841555173
+                ],
+                [
+                    -0.17325860796072162,
+                    -0.5123269029924012,
+                    0.8411317371480685
+                ],
+                [
+                    -0.19641956409345607,
+                    -0.8189162261238718,
+                    -0.5392546424764204
+                ]
+            ],
+            "translation_vector": [
+                0.6310497508322803,
+                -0.25612232360001796,
+                0.46148931881342575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650780432603089,
+                    -0.25870447659279033,
+                    0.041186942199004435
+                ],
+                [
+                    -0.17323980513424023,
+                    -0.5123477281704627,
+                    0.8411229252348412
+                ],
+                [
+                    -0.1965002298571281,
+                    -0.8188844846676583,
+                    -0.5392734560839053
+                ]
+            ],
+            "translation_vector": [
+                0.6310415863551715,
+                -0.25613135016233746,
+                0.46148528867915295
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650792277629475,
+                    -0.25867146075172665,
+                    0.041366164108374494
+                ],
+                [
+                    -0.1733621122173767,
+                    -0.5122854158536743,
+                    0.8411356791571487
+                ],
+                [
+                    -0.1963865122354453,
+                    -0.8189338972690019,
+                    -0.5392398443325579
+                ]
+            ],
+            "translation_vector": [
+                0.6310744905782395,
+                -0.2561318268630594,
+                0.46150422211288705
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650697813054316,
+                    -0.25871731417979116,
+                    0.04129974037063573
+                ],
+                [
+                    -0.17333440037690215,
+                    -0.5123015311547472,
+                    0.8411315752142953
+                ],
+                [
+                    -0.1964573817830892,
+                    -0.818909331074019,
+                    -0.5392513371544262
+                ]
+            ],
+            "translation_vector": [
+                0.6310668927238238,
+                -0.25612764443577285,
+                0.4614826795829518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650769358013207,
+                    -0.25872369441216425,
+                    0.04109206655858674
+                ],
+                [
+                    -0.17316196653806265,
+                    -0.5123219901379803,
+                    0.8411546301160866
+                ],
+                [
+                    -0.1965742641573539,
+                    -0.8188945160219238,
+                    -0.5392312401003995
+                ]
+            ],
+            "translation_vector": [
+                0.6310249486588425,
+                -0.2561266728546218,
+                0.4614717897848136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650293155107001,
+                    -0.2588254110503051,
+                    0.041567136052293376
+                ],
+                [
+                    -0.1736074478073745,
+                    -0.512209596378947,
+                    0.8411312522092647
+                ],
+                [
+                    -0.19641505612034682,
+                    -0.8189326809768656,
+                    -0.5392312952317254
+                ]
+            ],
+            "translation_vector": [
+                0.6311235344000521,
+                -0.25614603998777347,
+                0.46148910730469767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650938751111463,
+                    -0.25864503161413277,
+                    0.041189317113494335
+                ],
+                [
+                    -0.1732054169345346,
+                    -0.512337974928596,
+                    0.8411359479837964
+                ],
+                [
+                    -0.1964527825394331,
+                    -0.8189093643788611,
+                    -0.5392529621292077
+                ]
+            ],
+            "translation_vector": [
+                0.6310271999100482,
+                -0.2561360124337029,
+                0.4614914991998979
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650904988370107,
+                    -0.25866623379285053,
+                    0.04113524705107331
+                ],
+                [
+                    -0.17316300555004896,
+                    -0.51230690964627,
+                    0.8411636011131026
+                ],
+                [
+                    -0.19650674940928656,
+                    -0.8189221024151878,
+                    -0.5392139534660475
+                ]
+            ],
+            "translation_vector": [
+                0.6310272954984415,
+                -0.2561274486158325,
+                0.46150219194282516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650492563557143,
+                    -0.2587794141877521,
+                    0.04139018724199131
+                ],
+                [
+                    -0.17344164561119801,
+                    -0.5122714016612209,
+                    0.84112781823438
+                ],
+                [
+                    -0.19646355482623945,
+                    -0.8189085576745992,
+                    -0.539250262672486
+                ]
+            ],
+            "translation_vector": [
+                0.6310920721389864,
+                -0.2561296356192398,
+                0.46148509824879436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650549860683706,
+                    -0.25878023955356416,
+                    0.04125119975439631
+                ],
+                [
+                    -0.17333236414046466,
+                    -0.5123188445633612,
+                    0.8411214496413345
+                ],
+                [
+                    -0.19653184323680095,
+                    -0.8188786168424858,
+                    -0.5392708461173132
+                ]
+            ],
+            "translation_vector": [
+                0.631055915177124,
+                -0.25614754044321886,
+                0.46147858753875126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650561652949624,
+                    -0.25876685348500217,
+                    0.04130754608608113
+                ],
+                [
+                    -0.17336943880583147,
+                    -0.5123007072289999,
+                    0.8411248558096579
+                ],
+                [
+                    -0.19649334725209736,
+                    -0.8188941939653365,
+                    -0.5392612201665615
+                ]
+            ],
+            "translation_vector": [
+                0.6310655559677174,
+                -0.2561451678575122,
+                0.46147816866470753
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650595833955945,
+                    -0.25874297421061715,
+                    0.04137721345095078
+                ],
+                [
+                    -0.1734063655787067,
+                    -0.5122586528753414,
+                    0.8411428564346989
+                ],
+                [
+                    -0.19644396878780868,
+                    -0.8189280468093546,
+                    -0.5392278009115536
+                ]
+            ],
+            "translation_vector": [
+                0.6310780278204896,
+                -0.25613723716061465,
+                0.46148953506852997
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650807985211419,
+                    -0.25870040283283263,
+                    0.04114795134541987
+                ],
+                [
+                    -0.17320199869573616,
+                    -0.5123415389224151,
+                    0.8411344810090794
+                ],
+                [
+                    -0.19652002435781757,
+                    -0.8188896440111704,
+                    -0.5392584083328338
+                ]
+            ],
+            "translation_vector": [
+                0.6310279123221076,
+                -0.2561378469263437,
+                0.4614771832428186
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650553954974573,
+                    -0.2587605554634272,
+                    0.04136494358155486
+                ],
+                [
+                    -0.1733970813531731,
+                    -0.5122224727588078,
+                    0.8411668030652741
+                ],
+                [
+                    -0.196472735511693,
+                    -0.8189451222988702,
+                    -0.5391913861176209
+                ]
+            ],
+            "translation_vector": [
+                0.6310786562708252,
+                -0.25613468355957236,
+                0.4614929716246438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650822063558687,
+                    -0.2586876399717669,
+                    0.041195144144980454
+                ],
+                [
+                    -0.17321664513943488,
+                    -0.5122616861732592,
+                    0.8411800988644275
+                ],
+                [
+                    -0.19650020056459824,
+                    -0.8189436304195584,
+                    -0.5391836434586141
+                ]
+            ],
+            "translation_vector": [
+                0.6310439317364733,
+                -0.25612697867522055,
+                0.4615032799961343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650609300497275,
+                    -0.25875145604536315,
+                    0.04129267835778363
+                ],
+                [
+                    -0.17334999355511235,
+                    -0.5123105036464111,
+                    0.8411228968396965
+                ],
+                [
+                    -0.19648710142397993,
+                    -0.8188929306374338,
+                    -0.5392654143610894
+                ]
+            ],
+            "translation_vector": [
+                0.6310614501764803,
+                -0.25613656974079047,
+                0.46147741732177106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650786774326425,
+                    -0.2587056350844062,
+                    0.04116479977403005
+                ],
+                [
+                    -0.1732187085695439,
+                    -0.5123374646470504,
+                    0.8411335216958908
+                ],
+                [
+                    -0.1965157127721886,
+                    -0.8188905401179126,
+                    -0.5392586187897531
+                ]
+            ],
+            "translation_vector": [
+                0.6310315101225882,
+                -0.25613857722570127,
+                0.46147805980671164
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650578931710522,
+                    -0.2587537693974897,
+                    0.04134911910598575
+                ],
+                [
+                    -0.17338037178745816,
+                    -0.5122265484205044,
+                    0.8411677655331661
+                ],
+                [
+                    -0.196475213467483,
+                    -0.8189447172525185,
+                    -0.5391910983845147
+                ]
+            ],
+            "translation_vector": [
+                0.6310748820998223,
+                -0.25613395250376886,
+                0.46149289160541657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650866453066064,
+                    -0.25868213055270883,
+                    0.04112569006779458
+                ],
+                [
+                    -0.17315376754349446,
+                    -0.5122651095792478,
+                    0.8411909594695219
+                ],
+                [
+                    -0.19653381346815216,
+                    -0.8189432293147509,
+                    -0.539172001612837
+                ]
+            ],
+            "translation_vector": [
+                0.63102467077511,
+                -0.25613042171135086,
+                0.46149205440140206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650582993793354,
+                    -0.25874496533643154,
+                    0.041394706329607914
+                ],
+                [
+                    -0.1734233863564567,
+                    -0.5122612848694349,
+                    0.8411377444203626
+                ],
+                [
+                    -0.196435251072013,
+                    -0.8189257713229965,
+                    -0.5392344325052979
+                ]
+            ],
+            "translation_vector": [
+                0.6310876520112078,
+                -0.25613407930093784,
+                0.4614898935205046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650650700601249,
+                    -0.25875310904235055,
+                    0.04118542352293418
+                ],
+                [
+                    -0.17325401460657727,
+                    -0.5122961455188414,
+                    0.8411514166362926
+                ],
+                [
+                    -0.19655141050765815,
+                    -0.8189013907958977,
+                    -0.5392291305001933
+                ]
+            ],
+            "translation_vector": [
+                0.6310457476794195,
+                -0.25613265051445666,
+                0.46147457484518967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650633141693996,
+                    -0.25875453581615926,
+                    0.0412175913772041
+                ],
+                [
+                    -0.17328390131917185,
+                    -0.512300438843635,
+                    0.8411426453962646
+                ],
+                [
+                    -0.19653368461406753,
+                    -0.8188982540921568,
+                    -0.5392403548111319
+                ]
+            ],
+            "translation_vector": [
+                0.6310516294757169,
+                -0.2561298655499935,
+                0.4614679024503685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650531854679021,
+                    -0.25876996049619183,
+                    0.041357668733315374
+                ],
+                [
+                    -0.17342194502485012,
+                    -0.5123300386799572,
+                    0.8410961659941102
+                ],
+                [
+                    -0.196461645625942,
+                    -0.8188748616308802,
+                    -0.5393021257022393
+                ]
+            ],
+            "translation_vector": [
+                0.6310812610457482,
+                -0.2561401015819583,
+                0.46148015473938303
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651030279971045,
+                    -0.2586393512267286,
+                    0.04101013713506623
+                ],
+                [
+                    -0.17304909015361067,
+                    -0.5123508969257428,
+                    0.8411602527559146
+                ],
+                [
+                    -0.19654556150630198,
+                    -0.818903073883841,
+                    -0.5392287064277724
+                ]
+            ],
+            "translation_vector": [
+                0.6309981667540067,
+                -0.2561235111285179,
+                0.4614757509522732
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650574480642118,
+                    -0.2587648718853875,
+                    0.04128998684827197
+                ],
+                [
+                    -0.17334821808022355,
+                    -0.5122807912061146,
+                    0.8411413592551783
+                ],
+                [
+                    -0.19650576893364405,
+                    -0.8189072792687685,
+                    -0.5392368224967774
+                ]
+            ],
+            "translation_vector": [
+                0.631066094115121,
+                -0.25613438476237865,
+                0.4614837403756211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650753887806158,
+                    -0.2587217753307756,
+                    0.041140453809301
+                ],
+                [
+                    -0.1732208289898458,
+                    -0.5123961121259633,
+                    0.8410973598117331
+                ],
+                [
+                    -0.19652999357353618,
+                    -0.8188487450365233,
+                    -0.5393168775201614
+                ]
+            ],
+            "translation_vector": [
+                0.6310252063227143,
+                -0.25614072278380934,
+                0.46146030038908387
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650721672993773,
+                    -0.25871832855579835,
+                    0.04123758447553068
+                ],
+                [
+                    -0.1732666916553818,
+                    -0.512242697192489,
+                    0.8411813554375552
+                ],
+                [
+                    -0.19650538279365617,
+                    -0.8189458136178839,
+                    -0.5391784388223074
+                ]
+            ],
+            "translation_vector": [
+                0.6310500742241706,
+                -0.25613306921551154,
+                0.4614996142866757
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650818924441288,
+                    -0.25869115430583073,
+                    0.04118042690861768
+                ],
+                [
+                    -0.17322753244187572,
+                    -0.5123521132839443,
+                    0.8411227817730154
+                ],
+                [
+                    -0.19649214457722755,
+                    -0.8188859497496543,
+                    -0.5392741774107571
+                ]
+            ],
+            "translation_vector": [
+                0.6310327917490224,
+                -0.2561325824716117,
+                0.4614776274187778
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650925137180715,
+                    -0.2586676927659254,
+                    0.04107876196390825
+                ],
+                [
+                    -0.17311987738876589,
+                    -0.5123288542768719,
+                    0.8411591128486018
+                ],
+                [
+                    -0.19653485191749895,
+                    -0.818907912890394,
+                    -0.5392252610804377
+                ]
+            ],
+            "translation_vector": [
+                0.6310200980340759,
+                -0.25612678839337977,
+                0.4614865874811476
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650714361853858,
+                    -0.2587045966189161,
+                    0.041340715370213096
+                ],
+                [
+                    -0.17336068626481302,
+                    -0.5122926602651336,
+                    0.8411315608727719
+                ],
+                [
+                    -0.19642605610475958,
+                    -0.8189188982595996,
+                    -0.5392482197990213
+                ]
+            ],
+            "translation_vector": [
+                0.6310678093572888,
+                -0.256150641597596,
+                0.46150086645658783
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650883134310267,
+                    -0.25867994870871847,
+                    0.041100260521205835
+                ],
+                [
+                    -0.1731516399011089,
+                    -0.512353816837589,
+                    0.8411373704523603
+                ],
+                [
+                    -0.19652749649454385,
+                    -0.8188884237232867,
+                    -0.5392575383001872
+                ]
+            ],
+            "translation_vector": [
+                0.6310165375898076,
+                -0.2561356464191978,
+                0.4614772488845278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650578698733832,
+                    -0.25876748301518204,
+                    0.04126375563901259
+                ],
+                [
+                    -0.17334059346133934,
+                    -0.5123380455702068,
+                    0.8411080582896417
+                ],
+                [
+                    -0.19651042327041934,
+                    -0.8188706349572492,
+                    -0.5392907719874246
+                ]
+            ],
+            "translation_vector": [
+                0.6310548127056268,
+                -0.25614819267163225,
+                0.46147286414883393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650887490452866,
+                    -0.25867053066776574,
+                    0.041149277396577276
+                ],
+                [
+                    -0.1731785033995111,
+                    -0.5123102569355398,
+                    0.8411583718889962
+                ],
+                [
+                    -0.19650168555640818,
+                    -0.8189186511508321,
+                    -0.5392210403635904
+                ]
+            ],
+            "translation_vector": [
+                0.6310276924643702,
+                -0.256124572847675,
+                0.46149092751948917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650880624808457,
+                    -0.2586757189768912,
+                    0.041132761501702975
+                ],
+                [
+                    -0.17318010312468574,
+                    -0.5123645026497359,
+                    0.8411250015938251
+                ],
+                [
+                    -0.19650364764729106,
+                    -0.8188830739710509,
+                    -0.5392743528344659
+                ]
+            ],
+            "translation_vector": [
+                0.6310194687552327,
+                -0.25612762308019316,
+                0.46147498951287597
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650818938996204,
+                    -0.25868637896723434,
+                    0.04121037980827562
+                ],
+                [
+                    -0.1732434900213769,
+                    -0.5123212407957808,
+                    0.8411382998025263
+                ],
+                [
+                    -0.19647806806953028,
+                    -0.8189067734280211,
+                    -0.5392476844654717
+                ]
+            ],
+            "translation_vector": [
+                0.6310365135426063,
+                -0.25614551703751487,
+                0.46148974681910077
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650833968129438,
+                    -0.25868650922477454,
+                    0.04117435052421586
+                ],
+                [
+                    -0.17321259582666132,
+                    -0.5123230463916141,
+                    0.8411435625284222
+                ],
+                [
+                    -0.1964979232536059,
+                    -0.8189056026680467,
+                    -0.5392422276453349
+                ]
+            ],
+            "translation_vector": [
+                0.631040240611539,
+                -0.2561244594287513,
+                0.4614865720614759
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650829571775432,
+                    -0.25868756652242575,
+                    0.041178012241414624
+                ],
+                [
+                    -0.17322168561980134,
+                    -0.5123450990094863,
+                    0.8411282584433806
+                ],
+                [
+                    -0.1964920695511227,
+                    -0.8188914717150652,
+                    -0.5392658195693952
+                ]
+            ],
+            "translation_vector": [
+                0.6310311050108304,
+                -0.256142022184219,
+                0.4614815995005059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650806491467351,
+                    -0.2586935760146269,
+                    0.041194348778449984
+                ],
+                [
+                    -0.17323839542342062,
+                    -0.5123410246166489,
+                    0.8411272988352482
+                ],
+                [
+                    -0.19648867395764735,
+                    -0.8188921224578527,
+                    -0.5392660686366595
+                ]
+            ],
+            "translation_vector": [
+                0.6310347910524843,
+                -0.2561427525524163,
+                0.46148207781941936
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650791115334737,
+                    -0.25870046959859155,
+                    0.04118707942097648
+                ],
+                [
+                    -0.17322910826208474,
+                    -0.5123122360530167,
+                    0.8411467463178356
+                ],
+                [
+                    -0.19650441351909761,
+                    -0.8189079556457043,
+                    -0.539236289253319
+                ]
+            ],
+            "translation_vector": [
+                0.6310384555411758,
+                -0.256129083696589,
+                0.46148479755827154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650958097868121,
+                    -0.258640576678477,
+                    0.04117195680754352
+                ],
+                [
+                    -0.17318870696234925,
+                    -0.5123420488734505,
+                    0.8411369072492684
+                ],
+                [
+                    -0.19645801004959534,
+                    -0.8189082226059154,
+                    -0.539252791588299
+                ]
+            ],
+            "translation_vector": [
+                0.6310236903953548,
+                -0.256135282190866,
+                0.46149007152893756
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650693879129145,
+                    -0.25872744311745177,
+                    0.04124544449146665
+                ],
+                [
+                    -0.1732981199782886,
+                    -0.512323325483423,
+                    0.8411257764315618
+                ],
+                [
+                    -0.1964913181934091,
+                    -0.8188924962066223,
+                    -0.5392645376168398
+                ]
+            ],
+            "translation_vector": [
+                0.631049251292593,
+                -0.2561397563523068,
+                0.4614862132329359
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965080327481466,
+                    -0.2586987320288883,
+                    0.041169497870536316
+                ],
+                [
+                    -0.17322999863301303,
+                    -0.5123839602362206,
+                    0.8411028741279236
+                ],
+                [
+                    -0.19649765668290547,
+                    -0.8188636292688135,
+                    -0.5393060611367487
+                ]
+            ],
+            "translation_vector": [
+                0.6310300064498936,
+                -0.25613941800581935,
+                0.4614790288420463
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650883079943401,
+                    -0.25866119278569916,
+                    0.0412182619636171
+                ],
+                [
+                    -0.17323037183504109,
+                    -0.5122981760127692,
+                    0.8411550493980782
+                ],
+                [
+                    -0.1964581279726429,
+                    -0.8189291582308383,
+                    -0.5392209544823118
+                ]
+            ],
+            "translation_vector": [
+                0.6310380185761101,
+                -0.256131495166664,
+                0.46149360838638775
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965093552484787,
+                    -0.25864134057323773,
+                    0.04122004244020993
+                ],
+                [
+                    -0.1732252764310752,
+                    -0.5123179601346702,
+                    0.8411440490955332
+                ],
+                [
+                    -0.19643685641363698,
+                    -0.818923051739252,
+                    -0.5392379778654312
+                ]
+            ],
+            "translation_vector": [
+                0.6310413855058575,
+                -0.25612873031211725,
+                0.4614956078931197
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650728969097961,
+                    -0.2587313990475261,
+                    0.04113838593143312
+                ],
+                [
+                    -0.17320694679592183,
+                    -0.5123227682208538,
+                    0.8411448952137532
+                ],
+                [
+                    -0.19655446377980945,
+                    -0.8188915949681197,
+                    -0.5392428937490047
+                ]
+            ],
+            "translation_vector": [
+                0.6310341105371889,
+                -0.25613000562346433,
+                0.4614719596646234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965067565083749,
+                    -0.25874265794954143,
+                    0.041192618034429584
+                ],
+                [
+                    -0.1732654595170751,
+                    -0.5123426969156933,
+                    0.8411207056395003
+                ],
+                [
+                    -0.19652907001678033,
+                    -0.8188755692254842,
+                    -0.5392764845271661
+                ]
+            ],
+            "translation_vector": [
+                0.631039710536848,
+                -0.2561508163743863,
+                0.4614803224498256
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650875044013167,
+                    -0.2586749506807988,
+                    0.04115068333241852
+                ],
+                [
+                    -0.17319082296631738,
+                    -0.5123459199336013,
+                    0.8411341136630005
+                ],
+                [
+                    -0.19649694065986978,
+                    -0.8188949433338065,
+                    -0.5392587728480953
+                ]
+            ],
+            "translation_vector": [
+                0.6310250642985518,
+                -0.25613156541449794,
+                0.46148252158726827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650684823753003,
+                    -0.258735914285028,
+                    0.04121348062134247
+                ],
+                [
+                    -0.17327258581711297,
+                    -0.5123127521570547,
+                    0.841137476861848
+                ],
+                [
+                    -0.19651828243216032,
+                    -0.8188964346218363,
+                    -0.5392487311376437
+                ]
+            ],
+            "translation_vector": [
+                0.6310442835648918,
+                -0.25614502040972004,
+                0.4614862431500678
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650896626740096,
+                    -0.25866211407353623,
+                    0.041180744805986824
+                ],
+                [
+                    -0.17321051012613234,
+                    -0.5123494804583212,
+                    0.8411278910224852
+                ],
+                [
+                    -0.1964689852918569,
+                    -0.8188967704278103,
+                    -0.5392661839957062
+                ]
+            ],
+            "translation_vector": [
+                0.6310282570335503,
+                -0.25613574065889844,
+                0.4614868615331833
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650744115765468,
+                    -0.2587203442718128,
+                    0.04117236427577143
+                ],
+                [
+                    -0.17322930584027843,
+                    -0.512318971707033,
+                    0.8411426031459492
+                ],
+                [
+                    -0.19652732053909827,
+                    -0.8188974628663367,
+                    -0.5392438758046303
+                ]
+            ],
+            "translation_vector": [
+                0.6310389252533205,
+                -0.256125189899543,
+                0.46147690731901275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650846550001132,
+                    -0.2586764750196819,
+                    0.04120788704488875
+                ],
+                [
+                    -0.17323354729222668,
+                    -0.5123125462415696,
+                    0.8411456431891159
+                ],
+                [
+                    -0.19647327242112148,
+                    -0.8189153413112197,
+                    -0.5392364203104832
+                ]
+            ],
+            "translation_vector": [
+                0.631035547098021,
+                -0.2561310465273403,
+                0.4614844417884273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650720711902786,
+                    -0.25873678859938415,
+                    0.041123857233768386
+                ],
+                [
+                    -0.17319867679905315,
+                    -0.5123281829235146,
+                    0.8411433001203463
+                ],
+                [
+                    -0.19656580517364386,
+                    -0.8188865044727307,
+                    -0.5392464900477978
+                ]
+            ],
+            "translation_vector": [
+                0.6310323229875832,
+                -0.25612768966073524,
+                0.461468793895924
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965067783703585,
+                    -0.25873899203662176,
+                    0.04121051877037963
+                ],
+                [
+                    -0.17328208090907452,
+                    -0.5123557140731952,
+                    0.8411093523985853
+                ],
+                [
+                    -0.19651334126026102,
+                    -0.8188685830195341,
+                    -0.5392928244009083
+                ]
+            ],
+            "translation_vector": [
+                0.6310442132840148,
+                -0.25614367954945055,
+                0.46147442691677965
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650742207985425,
+                    -0.25872217177661466,
+                    0.041165351708422775
+                ],
+                [
+                    -0.1732376846427651,
+                    -0.5123749811230569,
+                    0.841106760963649
+                ],
+                [
+                    -0.196520871587982,
+                    -0.8188618421628517,
+                    -0.5393003156683306
+                ]
+            ],
+            "translation_vector": [
+                0.6310345512020784,
+                -0.2561320435109458,
+                0.46147044374774693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650809789400024,
+                    -0.25869590671032755,
+                    0.041171980029244354
+                ],
+                [
+                    -0.17322367927790075,
+                    -0.5123553683033599,
+                    0.8411215925822827
+                ],
+                [
+                    -0.1965000280550462,
+                    -0.8188824118407052,
+                    -0.5392766771818676
+                ]
+            ],
+            "translation_vector": [
+                0.6310299648391298,
+                -0.25614031017734634,
+                0.46148736759200665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650783909235283,
+                    -0.2587081632332999,
+                    0.04115562718396889
+                ],
+                [
+                    -0.17320357288968047,
+                    -0.5123016622895911,
+                    0.8411584447377145
+                ],
+                [
+                    -0.19653046000735536,
+                    -0.8189121400319902,
+                    -0.5392204421176217
+                ]
+            ],
+            "translation_vector": [
+                0.631033399567184,
+                -0.2561343480562672,
+                0.4614853022784213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650786304211328,
+                    -0.2587058866709198,
+                    0.041164320792215096
+                ],
+                [
+                    -0.1732218839150019,
+                    -0.5123518343512539,
+                    0.8411241149615457
+                ],
+                [
+                    -0.19651314469370446,
+                    -0.8188814700789847,
+                    -0.5392733276585008
+                ]
+            ],
+            "translation_vector": [
+                0.6310313982444695,
+                -0.2561381287058442,
+                0.4614746585521038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650825036762398,
+                    -0.25869083311760704,
+                    0.041168118233885095
+                ],
+                [
+                    -0.17321116699235056,
+                    -0.5123293869785475,
+                    0.8411399948090296
+                ],
+                [
+                    -0.19650356924786064,
+                    -0.8189002699346878,
+                    -0.5392482685866937
+                ]
+            ],
+            "translation_vector": [
+                0.6310301750796589,
+                -0.2561365424483558,
+                0.4614910958008407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650716674735372,
+                    -0.2587234317838697,
+                    0.041217259562274504
+                ],
+                [
+                    -0.17326526280634263,
+                    -0.5122983647568475,
+                    0.8411477481228307
+                ],
+                [
+                    -0.19650909735810101,
+                    -0.8189093791827257,
+                    -0.5392324205220482
+                ]
+            ],
+            "translation_vector": [
+                0.6310464238512796,
+                -0.25613841176842156,
+                0.4614850779654954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650573320399135,
+                    -0.258771918448515,
+                    0.041248516318525816
+                ],
+                [
+                    -0.17334392317258296,
+                    -0.5123966556043716,
+                    0.8410716685423382
+                ],
+                [
+                    -0.19651012741113932,
+                    -0.8188325601415287,
+                    -0.5393486889544905
+                ]
+            ],
+            "translation_vector": [
+                0.631050348342201,
+                -0.2561601365060656,
+                0.4614704079698735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650996533062883,
+                    -0.25864328718343405,
+                    0.041064695092372976
+                ],
+                [
+                    -0.17310437250972843,
+                    -0.5123737002289179,
+                    0.8411349876992039
+                ],
+                [
+                    -0.19651344841026802,
+                    -0.8188875632885595,
+                    -0.5392639643859306
+                ]
+            ],
+            "translation_vector": [
+                0.631000923095288,
+                -0.256136896486212,
+                0.4614829286424894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650519952239501,
+                    -0.25877173912263357,
+                    0.041374310214442274
+                ],
+                [
+                    -0.1734279988418884,
+                    -0.5122905609635681,
+                    0.8411189632657979
+                ],
+                [
+                    -0.19646214834407977,
+                    -0.8188989975443128,
+                    -0.5392652928651614
+                ]
+            ],
+            "translation_vector": [
+                0.6310735729189557,
+                -0.25615588577657616,
+                0.46148634887989143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651049510867297,
+                    -0.2586332535983106,
+                    0.041003335486676576
+                ],
+                [
+                    -0.17305047377689725,
+                    -0.5123959425348809,
+                    0.8411325291530356
+                ],
+                [
+                    -0.1965348999884558,
+                    -0.8188768150381002,
+                    -0.5392724681268128
+                ]
+            ],
+            "translation_vector": [
+                0.6309896649074853,
+                -0.25613853643230317,
+                0.46148998147289194
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965069962353965,
+                    -0.2587321634388741,
+                    0.041202370858437636
+                ],
+                [
+                    -0.17327071189956933,
+                    -0.5123542634575879,
+                    0.8411125781455472
+                ],
+                [
+                    -0.19651266666536532,
+                    -0.8188716482569611,
+                    -0.5392884158972774
+                ]
+            ],
+            "translation_vector": [
+                0.6310412849483971,
+                -0.256148023555468,
+                0.46147737506634967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650589023988679,
+                    -0.2587615203404551,
+                    0.04127699712659041
+                ],
+                [
+                    -0.17334903297556042,
+                    -0.5123393844341567,
+                    0.8411055034441682
+                ],
+                [
+                    -0.196497907538809,
+                    -0.8188716814915057,
+                    -0.5392937433200425
+                ]
+            ],
+            "translation_vector": [
+                0.6310588065632159,
+                -0.25614660732872724,
+                0.46147728994915466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965088765679979,
+                    -0.2586692395166306,
+                    0.041157002881437234
+                ],
+                [
+                    -0.17319349206807647,
+                    -0.5123477499188013,
+                    0.8411324494147201
+                ],
+                [
+                    -0.1964883932031605,
+                    -0.8188956024311216,
+                    -0.5392608864505294
+                ]
+            ],
+            "translation_vector": [
+                0.6310238468052122,
+                -0.2561456311026992,
+                0.4614873918600246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650552006677149,
+                    -0.2587736496273312,
+                    0.041287503227348296
+                ],
+                [
+                    -0.17336663876451816,
+                    -0.5123455808666002,
+                    0.8410981003010051
+                ],
+                [
+                    -0.1965005552859588,
+                    -0.8188639716247245,
+                    -0.5393044851911512
+                ]
+            ],
+            "translation_vector": [
+                0.6310578705009183,
+                -0.25615314009479434,
+                0.4614759401151489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650898365044595,
+                    -0.2586685417323311,
+                    0.041136273456231304
+                ],
+                [
+                    -0.1731869818461263,
+                    -0.512397581105196,
+                    0.8411034348976196
+                ],
+                [
+                    -0.1964888719363671,
+                    -0.8188646435129642,
+                    -0.539307721815255
+                ]
+            ],
+            "translation_vector": [
+                0.6310189671494975,
+                -0.2561431455573789,
+                0.46147679625217236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650818611055465,
+                    -0.2586857657261325,
+                    0.04121499697609544
+                ],
+                [
+                    -0.17325408322204372,
+                    -0.5123500874780247,
+                    0.8411185472382295
+                ],
+                [
+                    -0.1964688881526645,
+                    -0.8188889194951569,
+                    -0.539278141144355
+                ]
+            ],
+            "translation_vector": [
+                0.6310323332252991,
+                -0.2561491080142286,
+                0.46148371053095755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650779763068887,
+                    -0.2587015356031442,
+                    0.04120697906878511
+                ],
+                [
+                    -0.17326231954480875,
+                    -0.5123758145901284,
+                    0.8411011789606854
+                ],
+                [
+                    -0.19648070712757706,
+                    -0.8188678404356087,
+                    -0.5393058423816394
+                ]
+            ],
+            "translation_vector": [
+                0.6310331022225691,
+                -0.2561483926139185,
+                0.4614766611944939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650865876276555,
+                    -0.2586760691674395,
+                    0.04116515056803867
+                ],
+                [
+                    -0.17320486131611243,
+                    -0.5123492011712352,
+                    0.8411292243619071
+                ],
+                [
+                    -0.19648906941016717,
+                    -0.8188925370885236,
+                    -0.5392652949180462
+                ]
+            ],
+            "translation_vector": [
+                0.6310267752601766,
+                -0.25614128688143195,
+                0.46148452000040807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650777897980227,
+                    -0.2587023129096576,
+                    0.04120646713511119
+                ],
+                [
+                    -0.17326231954549393,
+                    -0.5123758145929838,
+                    0.8411011789588048
+                ],
+                [
+                    -0.196481623222831,
+                    -0.8188675948621791,
+                    -0.5393058814998696
+                ]
+            ],
+            "translation_vector": [
+                0.6310331904800232,
+                -0.25614839261359434,
+                0.4614762628351078
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650776032882875,
+                    -0.25870309021593746,
+                    0.04120595520140041
+                ],
+                [
+                    -0.173262319546179,
+                    -0.5123758145958387,
+                    0.8411011789569249
+                ],
+                [
+                    -0.19648253931790752,
+                    -0.8188673492880125,
+                    -0.5393059206176136
+                ]
+            ],
+            "translation_vector": [
+                0.6310332787370264,
+                -0.2561483926132702,
+                0.4614757881816929
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650661206627462,
+                    -0.2587439680414721,
+                    0.04121822110561852
+                ],
+                [
+                    -0.17329035076986468,
+                    -0.5123502997728558,
+                    0.8411109466965238
+                ],
+                [
+                    -0.19651421597181015,
+                    -0.8188703983688865,
+                    -0.5392897492036783
+                ]
+            ],
+            "translation_vector": [
+                0.6310431111089528,
+                -0.25614599558068407,
+                0.461474751639301
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650690439630698,
+                    -0.2587346532814639,
+                    0.04120824645052559
+                ],
+                [
+                    -0.17328004834101318,
+                    -0.5123658745202458,
+                    0.8411035818934787
+                ],
+                [
+                    -0.1965089444049372,
+                    -0.8188635965888484,
+                    -0.539301997910663
+                ]
+            ],
+            "translation_vector": [
+                0.631040921538652,
+                -0.2561522400628064,
+                0.461478548556759
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650788945680333,
+                    -0.25869904582985936,
+                    0.0412011036995808
+                ],
+                [
+                    -0.17325298372660264,
+                    -0.5123642031016264,
+                    0.8411101753099086
+                ],
+                [
+                    -0.19648442912651587,
+                    -0.8188758923467927,
+                    -0.5392922603227971
+                ]
+            ],
+            "translation_vector": [
+                0.6310334655951535,
+                -0.25614417617944685,
+                0.4614754877695478
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965087365875446,
+                    -0.25867569421499464,
+                    0.0411492581948208
+                ],
+                [
+                    -0.17320031653034224,
+                    -0.5123888819916746,
+                    0.841105988544316
+                ],
+                [
+                    -0.19648925309385923,
+                    -0.8188678274506286,
+                    -0.5393027485419531
+                ]
+            ],
+            "translation_vector": [
+                0.6310247290851241,
+                -0.2561302246523365,
+                0.46147212922537956
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965086446256449,
+                    -0.25866668947459576,
+                    0.04122735752326975
+                ],
+                [
+                    -0.1732531863109766,
+                    -0.5123470826760393,
+                    0.8411205622896436
+                ],
+                [
+                    -0.19644715494298315,
+                    -0.8188968253874265,
+                    -0.5392740534136633
+                ]
+            ],
+            "translation_vector": [
+                0.6310401239024404,
+                -0.25615204832635036,
+                0.4614972955745337
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650729830991961,
+                    -0.25872477997441307,
+                    0.04117797371424004
+                ],
+                [
+                    -0.17324312461981375,
+                    -0.5123455722448367,
+                    0.8411235547605802
+                ],
+                [
+                    -0.19652215413022214,
+                    -0.8188794189795605,
+                    -0.5392731590833303
+                ]
+            ],
+            "translation_vector": [
+                0.6310315340751055,
+                -0.25614890771174653,
+                0.46148330339768373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650923445004308,
+                    -0.2586513662094457,
+                    0.0411854020819122
+                ],
+                [
+                    -0.1732177243204653,
+                    -0.5123883451971248,
+                    0.8411027307573026
+                ],
+                [
+                    -0.1964494504138427,
+                    -0.8188758480161321,
+                    -0.5393050704081688
+                ]
+            ],
+            "translation_vector": [
+                0.63102550708385,
+                -0.25614065020822935,
+                0.4614853839031975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650812027467887,
+                    -0.25869303635757923,
+                    0.041184767146457434
+                ],
+                [
+                    -0.1732362740219802,
+                    -0.5123682775415113,
+                    0.8411111350660662
+                ],
+                [
+                    -0.196487825240632,
+                    -0.8188752414801911,
+                    -0.5392920112730818
+                ]
+            ],
+            "translation_vector": [
+                0.6310297795536581,
+                -0.2561434457781946,
+                0.46147500943364944
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650848874808878,
+                    -0.2586887838718987,
+                    0.04112509033279084
+                ],
+                [
+                    -0.17318037881291806,
+                    -0.5123622640294505,
+                    0.8411263084655183
+                ],
+                [
+                    -0.1965189974282799,
+                    -0.8188803474852073,
+                    -0.5392728995159037
+                ]
+            ],
+            "translation_vector": [
+                0.6310192527457329,
+                -0.25614793404947345,
+                0.46147018721894284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649778064440413,
+                    -0.25906427822762196,
+                    0.04127387571876316
+                ],
+                [
+                    -0.17353190141736227,
+                    -0.5123884315892542,
+                    0.8410379149384284
+                ],
+                [
+                    -0.19673462395044117,
+                    -0.8187452564258957,
+                    -0.5393993815524569
+                ]
+            ],
+            "translation_vector": [
+                0.6310783230603487,
+                -0.2562003303470043,
+                0.46136929696205714
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649634565188366,
+                    -0.25915089238799194,
+                    0.04106510145764579
+                ],
+                [
+                    -0.17339979538551148,
+                    -0.512388945927375,
+                    0.8410648483034444
+                ],
+                [
+                    -0.19692140194372484,
+                    -0.818717523365624,
+                    -0.5393733200581736
+                ]
+            ],
+            "translation_vector": [
+                0.6310383623871987,
+                -0.25621112387381717,
+                0.4613332682811436
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649563456152683,
+                    -0.2591169168188419,
+                    0.04144483653151858
+                ],
+                [
+                    -0.1736930301685546,
+                    -0.5123130931163473,
+                    0.8410505489519797
+                ],
+                [
+                    -0.19669769273606777,
+                    -0.8187757434364175,
+                    -0.5393665725946031
+                ]
+            ],
+            "translation_vector": [
+                0.6310839657016502,
+                -0.2562192097366061,
+                0.46141833420623873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649555508399198,
+                    -0.2591311395071736,
+                    0.041374357287347716
+                ],
+                [
+                    -0.17363921849020017,
+                    -0.51231081245876,
+                    0.8410630495033996
+                ],
+                [
+                    -0.1967490958183541,
+                    -0.8187726692895649,
+                    -0.53935249078789
+                ]
+            ],
+            "translation_vector": [
+                0.6310693729032492,
+                -0.2562225285656784,
+                0.4614309622517214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649953633634063,
+                    -0.25900645305023673,
+                    0.04122627760862557
+                ],
+                [
+                    -0.1734525323590736,
+                    -0.5123689426445835,
+                    0.8410661600798691
+                ],
+                [
+                    -0.19671849863536592,
+                    -0.8187757470098924,
+                    -0.5393589791623391
+                ]
+            ],
+            "translation_vector": [
+                0.631031050100809,
+                -0.2562128150712397,
+                0.4614439903279801
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649649649857083,
+                    -0.2590996869425585,
+                    0.04135176630325394
+                ],
+                [
+                    -0.173617900733533,
+                    -0.5123791967969767,
+                    0.8410257922528691
+                ],
+                [
+                    -0.1967217346787381,
+                    -0.8187398310305621,
+                    -0.5394123174242825
+                ]
+            ],
+            "translation_vector": [
+                0.63106681751996,
+                -0.2562263614489591,
+                0.4614124034296119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649576784034821,
+                    -0.2591266004760786,
+                    0.04135315968427471
+                ],
+                [
+                    -0.1736291875449879,
+                    -0.5123568005594679,
+                    0.8410371062877864
+                ],
+                [
+                    -0.19674751363773266,
+                    -0.8187453290530436,
+                    -0.5393945698940562
+                ]
+            ],
+            "translation_vector": [
+                0.6310719064095043,
+                -0.2562337859042667,
+                0.46140522309067955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649295796047155,
+                    -0.25922434894786,
+                    0.04139617514246689
+                ],
+                [
+                    -0.1737225313539662,
+                    -0.5123556454100208,
+                    0.8410185341099514
+                ],
+                [
+                    -0.1968029179251108,
+                    -0.8187151088926108,
+                    -0.5394202276214001
+                ]
+            ],
+            "translation_vector": [
+                0.6310957817319122,
+                -0.25622723024581995,
+                0.4613838448765954
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649563523173073,
+                    -0.2591388524664654,
+                    0.04130730280277667
+                ],
+                [
+                    -0.1736172227187429,
+                    -0.5124440424532959,
+                    0.8409864227973928
+                ],
+                [
+                    -0.19676457531249686,
+                    -0.8186868500815732,
+                    -0.5394771018362173
+                ]
+            ],
+            "translation_vector": [
+                0.6310497531959133,
+                -0.25625059486108476,
+                0.4613904760240439
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649816127151395,
+                    -0.25905729872220723,
+                    0.04122866842916407
+                ],
+                [
+                    -0.1734859521298175,
+                    -0.5123778593495455,
+                    0.8410538351746506
+                ],
+                [
+                    -0.19675647774673008,
+                    -0.8187540810445655,
+                    -0.539378015159656
+                ]
+            ],
+            "translation_vector": [
+                0.6310406147211738,
+                -0.2562237064894793,
+                0.46141162183193946
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649119155256461,
+                    -0.2592579481052146,
+                    0.041597014567180235
+                ],
+                [
+                    -0.17391379683326502,
+                    -0.5123428444916818,
+                    0.8409868018995365
+                ],
+                [
+                    -0.19672057987832917,
+                    -0.8187124806929758,
+                    -0.5394542495985064
+                ]
+            ],
+            "translation_vector": [
+                0.6311288234430111,
+                -0.2562614159924776,
+                0.46139934740997723
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649559767995565,
+                    -0.2591662135184262,
+                    0.04114409568012723
+                ],
+                [
+                    -0.1734728047431945,
+                    -0.5123696535325799,
+                    0.8410615459961498
+                ],
+                [
+                    -0.19689375016323768,
+                    -0.8187247473415139,
+                    -0.5393724494606958
+                ]
+            ],
+            "translation_vector": [
+                0.6310565967762766,
+                -0.2562238227510281,
+                0.46136673482721097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648903104865069,
+                    -0.2593543790419488,
+                    0.04149692519955666
+                ],
+                [
+                    -0.17388499733882856,
+                    -0.5123555552375484,
+                    0.8409850133728302
+                ],
+                [
+                    -0.1968519657756256,
+                    -0.8186739833957036,
+                    -0.5394647462821675
+                ]
+            ],
+            "translation_vector": [
+                0.6311228427033803,
+                -0.2562661010749663,
+                0.46135583865162033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649473773809463,
+                    -0.2591897352424876,
+                    0.04119757311496392
+                ],
+                [
+                    -0.17354813588711301,
+                    -0.512432917453778,
+                    0.8410074611083529
+                ],
+                [
+                    -0.19686950859831445,
+                    -0.8186777059714883,
+                    -0.5394526951730981
+                ]
+            ],
+            "translation_vector": [
+                0.6310482057873529,
+                -0.25624248560117047,
+                0.4613533751406205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649688880951013,
+                    -0.25910422006012673,
+                    0.04123164022370912
+                ],
+                [
+                    -0.17351911903723707,
+                    -0.5123929830138096,
+                    0.8410377793457026
+                ],
+                [
+                    -0.1967896347296908,
+                    -0.818729768669274,
+                    -0.5394028230902316
+                ]
+            ],
+            "translation_vector": [
+                0.6310465372148708,
+                -0.2562391495066242,
+                0.461394340906523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649166498546411,
+                    -0.2592677661294417,
+                    0.041425647605623915
+                ],
+                [
+                    -0.17378384985766657,
+                    -0.512400143853519,
+                    0.8409787548490991
+                ],
+                [
+                    -0.19681217533969841,
+                    -0.8186735112516725,
+                    -0.5394799807341453
+                ]
+            ],
+            "translation_vector": [
+                0.6310962891899329,
+                -0.2562608950264921,
+                0.4613621242420104
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649699808846808,
+                    -0.25911564440473694,
+                    0.041134156319745284
+                ],
+                [
+                    -0.17344966413157623,
+                    -0.5124302064244564,
+                    0.8410294272832746
+                ],
+                [
+                    -0.19684549779982963,
+                    -0.818702855966991,
+                    -0.5394232879913791
+                ]
+            ],
+            "translation_vector": [
+                0.6310307612223073,
+                -0.2562373896179833,
+                0.46137762168991686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649055566340349,
+                    -0.25929808544101335,
+                    0.04149421240834497
+                ],
+                [
+                    -0.1738429342182836,
+                    -0.5123249042308049,
+                    0.8410123820297026
+                ],
+                [
+                    -0.19681438209424984,
+                    -0.818710996256629,
+                    -0.5394222869045522
+                ]
+            ],
+            "translation_vector": [
+                0.6311169138554257,
+                -0.25624989931431696,
+                0.4613749991947131
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649517448477088,
+                    -0.25914110867765605,
+                    0.04140067522006971
+                ],
+                [
+                    -0.1736688002986325,
+                    -0.5123146370526238,
+                    0.841054612058261
+                ],
+                [
+                    -0.19674165272813013,
+                    -0.8187671210148547,
+                    -0.539363628387056
+                ]
+            ],
+            "translation_vector": [
+                0.6310788488941378,
+                -0.2562455037605861,
+                0.4614233382956852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964960347900027,
+                    -0.2591289453217725,
+                    0.04127610297841659
+                ],
+                [
+                    -0.1735693419929416,
+                    -0.5123816365208088,
+                    0.8410343287145864
+                ],
+                [
+                    -0.19678722138593327,
+                    -0.8187290444662897,
+                    -0.5394048027655297
+                ]
+            ],
+            "translation_vector": [
+                0.6310543838274804,
+                -0.25624807524430154,
+                0.4614049394413574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649366027727668,
+                    -0.2591909622206837,
+                    0.04144149771024231
+                ],
+                [
+                    -0.1737427765871581,
+                    -0.5123552928574627,
+                    0.8410145667375378
+                ],
+                [
+                    -0.19675060409853082,
+                    -0.8187258997882378,
+                    -0.5394229331450447
+                ]
+            ],
+            "translation_vector": [
+                0.6310929210333481,
+                -0.256252178786899,
+                0.46140226723195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649357836371016,
+                    -0.25920857237990336,
+                    0.04135032601353174
+                ],
+                [
+                    -0.17366907828466266,
+                    -0.512337209651583,
+                    0.8410408045119963
+                ],
+                [
+                    -0.19681967560284375,
+                    -0.8187316407781018,
+                    -0.5393890207302973
+                ]
+            ],
+            "translation_vector": [
+                0.6310769162900457,
+                -0.2562434473257899,
+                0.4613945530512819
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649424424107329,
+                    -0.25917399214575737,
+                    0.041411648477695635
+                ],
+                [
+                    -0.17370983680256524,
+                    -0.5123670313675016,
+                    0.841014219716694
+                ],
+                [
+                    -0.19675104938077337,
+                    -0.8187239259743692,
+                    -0.5394257665376024
+                ]
+            ],
+            "translation_vector": [
+                0.6310773247857328,
+                -0.25626040123237726,
+                0.46140530658499607
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649349844701332,
+                    -0.2592049120733444,
+                    0.04139189899816048
+                ],
+                [
+                    -0.17370607140627448,
+                    -0.5123491081393996,
+                    0.8410259164528524
+                ],
+                [
+                    -0.19679094618966178,
+                    -0.8187253537944283,
+                    -0.5394090456712476
+                ]
+            ],
+            "translation_vector": [
+                0.6310804559205389,
+                -0.2562511574308776,
+                0.4613955947495769
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649381681556004,
+                    -0.2591862834922955,
+                    0.04143431049222811
+                ],
+                [
+                    -0.1737314483359382,
+                    -0.5123454002273283,
+                    0.8410229335309453
+                ],
+                [
+                    -0.19675293008138933,
+                    -0.8187335716308151,
+                    -0.5394104403782315
+                ]
+            ],
+            "translation_vector": [
+                0.6310859734844223,
+                -0.25624360844150185,
+                0.46140216359414393
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649214661196222,
+                    -0.25924162223799435,
+                    0.04147704812268852
+                ],
+                [
+                    -0.1737985637325037,
+                    -0.5123374450593222,
+                    0.8410139128662525
+                ],
+                [
+                    -0.19677556623238973,
+                    -0.8187210292214919,
+                    -0.5394212202392702
+                ]
+            ],
+            "translation_vector": [
+                0.6311004217594816,
+                -0.25625948467021653,
+                0.4613936441126577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649465015846003,
+                    -0.25918659604752164,
+                    0.04123781649093467
+                ],
+                [
+                    -0.1735537138557542,
+                    -0.512317741905439,
+                    0.8410764767461917
+                ],
+                [
+                    -0.19686888399774133,
+                    -0.8187507800046427,
+                    -0.539342009077054
+                ]
+            ],
+            "translation_vector": [
+                0.6310600035387799,
+                -0.2562358332304614,
+                0.46140108610889324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649141604688117,
+                    -0.259250606035694,
+                    0.041590698442005816
+                ],
+                [
+                    -0.17388836806264377,
+                    -0.5122774729019373,
+                    0.8410318818033685
+                ],
+                [
+                    -0.19673204715876608,
+                    -0.8187557108364681,
+                    -0.5393844524950554
+                ]
+            ],
+            "translation_vector": [
+                0.6311249888192489,
+                -0.25626163555928216,
+                0.4614033911860912
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649448830301839,
+                    -0.2591791826488336,
+                    0.041322197368333445
+                ],
+                [
+                    -0.17364036066037444,
+                    -0.5123899397800947,
+                    0.8410146103141646
+                ],
+                [
+                    -0.19680040107581087,
+                    -0.8187079460305937,
+                    -0.5394320172577509
+                ]
+            ],
+            "translation_vector": [
+                0.6310625676244614,
+                -0.2562563603305754,
+                0.4613928954771325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964925345263082,
+                    -0.2592285620077013,
+                    0.0414684302613585
+                ],
+                [
+                    -0.17378457389147295,
+                    -0.51234169413778,
+                    0.8410142152932902
+                ],
+                [
+                    -0.19676889984517612,
+                    -0.8187225055459566,
+                    -0.5394214112975774
+                ]
+            ],
+            "translation_vector": [
+                0.6310974545243101,
+                -0.2562559646177309,
+                0.46139442122258445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964932735704658,
+                    -0.25919528428011007,
+                    0.04150445966975226
+                ],
+                [
+                    -0.1737923342755149,
+                    -0.5123228300570455,
+                    0.8410241033106053
+                ],
+                [
+                    -0.19672579930602105,
+                    -0.8187448457299094,
+                    -0.5394032234591434
+                ]
+            ],
+            "translation_vector": [
+                0.6310955673056947,
+                -0.25626606373355854,
+                0.4614095911518793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649441807156788,
+                    -0.2591909517025531,
+                    0.041264738681740604
+                ],
+                [
+                    -0.17359271866802115,
+                    -0.5123719676350991,
+                    0.8410353945032172
+                ],
+                [
+                    -0.19684586896450953,
+                    -0.8187154678746834,
+                    -0.5394040104915289
+                ]
+            ],
+            "translation_vector": [
+                0.6310563215071368,
+                -0.25624637822751883,
+                0.46139340919604244
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649581117476732,
+                    -0.2591328806273341,
+                    0.04130366509336205
+                ],
+                [
+                    -0.17357438463191924,
+                    -0.5122932659953408,
+                    0.8410871195158545
+                ],
+                [
+                    -0.19679373865043392,
+                    -0.8187830969149319,
+                    -0.5393203729086986
+                ]
+            ],
+            "translation_vector": [
+                0.631059722912222,
+                -0.2562375533471926,
+                0.4614072303969196
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649038597655188,
+                    -0.2592798416412162,
+                    0.0416473904117713
+                ],
+                [
+                    -0.173957226049415,
+                    -0.5122885314350784,
+                    0.8410109060323081
+                ],
+                [
+                    -0.1967216940624429,
+                    -0.8187395338436987,
+                    -0.5394127833177538
+                ]
+            ],
+            "translation_vector": [
+                0.6311360214471845,
+                -0.25627229797637,
+                0.4614033815710209
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649325678354209,
+                    -0.25921277942977405,
+                    0.04139896750925061
+                ],
+                [
+                    -0.1737017040062795,
+                    -0.5122865127130037,
+                    0.8410649480971515
+                ],
+                [
+                    -0.19680665018198826,
+                    -0.8187620312842069,
+                    -0.5393476416667674
+                ]
+            ],
+            "translation_vector": [
+                0.6310802454759389,
+                -0.2562552566913337,
+                0.4614073755527625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649171257283837,
+                    -0.2592245781913506,
+                    0.0416840321657058
+                ],
+                [
+                    -0.17395555745291674,
+                    -0.5122807394995038,
+                    0.8410159974513487
+                ],
+                [
+                    -0.1966580903683349,
+                    -0.8187619080046155,
+                    -0.5394020147286456
+                ]
+            ],
+            "translation_vector": [
+                0.6311326908479737,
+                -0.2562794774798152,
+                0.46142246543606996
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964962395083178,
+                    -0.259128613193673,
+                    0.041230303172066045
+                ],
+                [
+                    -0.1735206043710384,
+                    -0.5123457412559886,
+                    0.841066252607701
+                ],
+                [
+                    -0.1968201614013316,
+                    -0.8187516126647784,
+                    -0.5393585271642402
+                ]
+            ],
+            "translation_vector": [
+                0.6310414935781725,
+                -0.2562467417386952,
+                0.46140634143838516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648989236726341,
+                    -0.25926704931425376,
+                    0.04184093970351311
+                ],
+                [
+                    -0.17410529791360904,
+                    -0.5122332407244088,
+                    0.8410139430089036
+                ],
+                [
+                    -0.19661488329677926,
+                    -0.8187781776750347,
+                    -0.5393930695043678
+                ]
+            ],
+            "translation_vector": [
+                0.6311640633342961,
+                -0.256286227976825,
+                0.4614321124045079
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648778509520834,
+                    -0.2593488275747697,
+                    0.04182007146911298
+                ],
+                [
+                    -0.17414230419196433,
+                    -0.51226752816287,
+                    0.8409853967106784
+                ],
+                [
+                    -0.19668551200533976,
+                    -0.8187308258673884,
+                    -0.5394391941096806
+                ]
+            ],
+            "translation_vector": [
+                0.631168580354182,
+                -0.2562969629783115,
+                0.461417019930852
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649455541784734,
+                    -0.2591565319422749,
+                    0.04144839469571892
+                ],
+                [
+                    -0.1737097234668278,
+                    -0.5122749959267072,
+                    0.8410703065269698
+                ],
+                [
+                    -0.19673588753523755,
+                    -0.8187870422154624,
+                    -0.5393354893345863
+                ]
+            ],
+            "translation_vector": [
+                0.6310799525003051,
+                -0.256271598379224,
+                0.46142866548892597
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648938759095914,
+                    -0.2592879928514538,
+                    0.04182756262598742
+                ],
+                [
+                    -0.17411457958896218,
+                    -0.5122703634365393,
+                    0.8409894101111829
+                ],
+                [
+                    -0.19663143544897743,
+                    -0.8187483200029549,
+                    -0.5394323563576939
+                ]
+            ],
+            "translation_vector": [
+                0.6311638143971091,
+                -0.25629551083260776,
+                0.4614183737720701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649281276379896,
+                    -0.2592235233005625,
+                    0.04143517178299671
+                ],
+                [
+                    -0.17373787635066967,
+                    -0.5122800504926062,
+                    0.8410614128519108
+                ],
+                [
+                    -0.19679649085845788,
+                    -0.8187626730835595,
+                    -0.5393503743865032
+                ]
+            ],
+            "translation_vector": [
+                0.6310909870344916,
+                -0.2562707940690594,
+                0.46140713128898875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649020722425579,
+                    -0.259261435098396,
+                    0.04180310099428182
+                ],
+                [
+                    -0.17406005164488797,
+                    -0.5121955897681175,
+                    0.8410462390638634
+                ],
+                [
+                    -0.1966394909559034,
+                    -0.8188035088425126,
+                    -0.5393456447435101
+                ]
+            ],
+            "translation_vector": [
+                0.6311563387471536,
+                -0.2562965335932188,
+                0.4614369743783817
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649010542163139,
+                    -0.2592796690578785,
+                    0.041713412537016215
+                ],
+                [
+                    -0.1739912943052318,
+                    -0.5121912204099146,
+                    0.8410631267871589
+                ],
+                [
+                    -0.19670532549536254,
+                    -0.8188004683366025,
+                    -0.5393262537402794
+                ]
+            ],
+            "translation_vector": [
+                0.6311452575639707,
+                -0.2562845304017957,
+                0.4614274921849493
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649475736111457,
+                    -0.25913922692810404,
+                    0.04150953202660097
+                ],
+                [
+                    -0.173752286518991,
+                    -0.5122717075312269,
+                    0.8410635175731164
+                ],
+                [
+                    -0.19668839089124018,
+                    -0.818794576636989,
+                    -0.5393413744174175
+                ]
+            ],
+            "translation_vector": [
+                0.6310892063028726,
+                -0.25628117536245626,
+                0.4614425637931173
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964916616786282,
+                    -0.25921605845779866,
+                    0.041748744739440576
+                ],
+                [
+                    -0.17398614824689354,
+                    -0.5121936241252907,
+                    0.8410627275201361
+                ],
+                [
+                    -0.19663352427275946,
+                    -0.8188191048351301,
+                    -0.5393241425052938
+                ]
+            ],
+            "translation_vector": [
+                0.6311394658284173,
+                -0.2562930137271385,
+                0.46145324275645005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649406068970205,
+                    -0.25915729567112944,
+                    0.04155864845777343
+                ],
+                [
+                    -0.1738025256468405,
+                    -0.5122594453004288,
+                    0.841060605889538
+                ],
+                [
+                    -0.19667818191143974,
+                    -0.8187965295486566,
+                    -0.539342132564374
+                ]
+            ],
+            "translation_vector": [
+                0.6311002891793893,
+                -0.25628337772156395,
+                0.4614439966950033
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649340572906381,
+                    -0.2591907832305753,
+                    0.04150184295845857
+                ],
+                [
+                    -0.17377282610688527,
+                    -0.5122618881939777,
+                    0.8410652547875029
+                ],
+                [
+                    -0.19673654969896623,
+                    -0.818784401287825,
+                    -0.5393392570732122
+                ]
+            ],
+            "translation_vector": [
+                0.6310925139184593,
+                -0.25628226218054667,
+                0.4614370056676951
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648943067328519,
+                    -0.2592917957270726,
+                    0.04179403669375555
+                ],
+                [
+                    -0.17407179316036578,
+                    -0.5122047932599707,
+                    0.8410382039999403
+                ],
+                [
+                    -0.19666720026599185,
+                    -0.8187881376950576,
+                    -0.539358876731806
+                ]
+            ],
+            "translation_vector": [
+                0.6311639669503624,
+                -0.2562751784418883,
+                0.46141914743905277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649475966163223,
+                    -0.2591411310847351,
+                    0.041497107905343486
+                ],
+                [
+                    -0.17374542162596082,
+                    -0.5122836584627131,
+                    0.8410576566062969
+                ],
+                [
+                    -0.19669434218706122,
+                    -0.818786496867274,
+                    -0.5393514701003576
+                ]
+            ],
+            "translation_vector": [
+                0.6310780113912811,
+                -0.2562881418565278,
+                0.4614455586192442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649065186127607,
+                    -0.25925271350573875,
+                    0.04175453123331165
+                ],
+                [
+                    -0.17401072057276637,
+                    -0.5121873118342192,
+                    0.8410614880743161
+                ],
+                [
+                    -0.19666133189915308,
+                    -0.818811448464143,
+                    -0.5393256274271634
+                ]
+            ],
+            "translation_vector": [
+                0.6311507872010077,
+                -0.256282476256887,
+                0.4614415624961502
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649140571088423,
+                    -0.259235098312479,
+                    0.041689641359380046
+                ],
+                [
+                    -0.17396283491906642,
+                    -0.5122655343488611,
+                    0.8410237537580005
+                ],
+                [
+                    -0.19666670908081021,
+                    -0.8187680905611768,
+                    -0.5393894876785502
+                ]
+            ],
+            "translation_vector": [
+                0.6311317472772688,
+                -0.2562886550663854,
+                0.4614274033803333
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649442024620307,
+                    -0.2591474050785647,
+                    0.041536833966519915
+                ],
+                [
+                    -0.17378265786974395,
+                    -0.5122795307881903,
+                    0.8410524776487845
+                ],
+                [
+                    -0.1966780973027843,
+                    -0.8187870936797172,
+                    -0.5393564881086337
+                ]
+            ],
+            "translation_vector": [
+                0.6310886568449455,
+                -0.25629063716367345,
+                0.46144464092174325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648990103461361,
+                    -0.2592732654549083,
+                    0.04180040255064349
+                ],
+                [
+                    -0.17406131782846096,
+                    -0.5121823734622037,
+                    0.8410540255836383
+                ],
+                [
+                    -0.19665339424700173,
+                    -0.8188080300870115,
+                    -0.5393337115331851
+                ]
+            ],
+            "translation_vector": [
+                0.6311582364937546,
+                -0.2562909251501757,
+                0.4614404248355645
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649496356197574,
+                    -0.25912327291583553,
+                    0.041561161565612806
+                ],
+                [
+                    -0.1737834660868311,
+                    -0.512252297699599,
+                    0.8410688975442672
+                ],
+                [
+                    -0.19665072497233463,
+                    -0.8188117689279185,
+                    -0.5393290085216894
+                ]
+            ],
+            "translation_vector": [
+                0.6310958244715492,
+                -0.2562801254857294,
+                0.46145168161462913
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649186895623939,
+                    -0.2592232595345398,
+                    0.04165602296765102
+                ],
+                [
+                    -0.17392001379372787,
+                    -0.5122375530393894,
+                    0.8410496525522191
+                ],
+                [
+                    -0.19668185309067615,
+                    -0.8187893446867195,
+                    -0.5393517012973171
+                ]
+            ],
+            "translation_vector": [
+                0.6311270745528814,
+                -0.25628462612549724,
+                0.46143706581605914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648930298474309,
+                    -0.2593007947154298,
+                    0.04176767663866147
+                ],
+                [
+                    -0.1740482101648894,
+                    -0.5121807592519488,
+                    0.8410577212002135
+                ],
+                [
+                    -0.19669433517578416,
+                    -0.8188003222471545,
+                    -0.5393304838387243
+                ]
+            ],
+            "translation_vector": [
+                0.6311568347396682,
+                -0.2562905365222391,
+                0.46143777865803387
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649375343382103,
+                    -0.2591702105080683,
+                    0.041549450182867695
+                ],
+                [
+                    -0.17379322275089637,
+                    -0.5122232276662663,
+                    0.841084585975162
+                ],
+                [
+                    -0.19670147572184704,
+                    -0.8188150994115557,
+                    -0.5393054444602722
+                ]
+            ],
+            "translation_vector": [
+                0.6311003882174594,
+                -0.25628082205025216,
+                0.46145028580833397
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649109101985736,
+                    -0.25924066867157236,
+                    0.04172782149209842
+                ],
+                [
+                    -0.17398361794547434,
+                    -0.5122001945058838,
+                    0.8410592496576791
+                ],
+                [
+                    -0.19666376398910798,
+                    -0.8188072034702987,
+                    -0.5393311853386429
+                ]
+            ],
+            "translation_vector": [
+                0.6311389504050406,
+                -0.2562919050189404,
+                0.46144551083777374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649470646629695,
+                    -0.2591355044442524,
+                    0.04154458730980576
+                ],
+                [
+                    -0.17376798178537428,
+                    -0.5122187406947177,
+                    0.841092533665206
+                ],
+                [
+                    -0.19667702180111693,
+                    -0.8188288905611115,
+                    -0.5392934239149432
+                ]
+            ],
+            "translation_vector": [
+                0.6310963516138691,
+                -0.2562729082538981,
+                0.4614523952185974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649072369623479,
+                    -0.25925236469819535,
+                    0.04174009410724293
+                ],
+                [
+                    -0.1740034782845311,
+                    -0.5122103859578726,
+                    0.8410489344038028
+                ],
+                [
+                    -0.19666421535849427,
+                    -0.8187971250042843,
+                    -0.5393463214690043
+                ]
+            ],
+            "translation_vector": [
+                0.6311431411401508,
+                -0.2562921930799408,
+                0.4614392148609039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964914892806475,
+                    -0.25923906466587787,
+                    0.04164561191085906
+                ],
+                [
+                    -0.17392001391835113,
+                    -0.5122375531393476,
+                    0.8410496524655693
+                ],
+                [
+                    -0.19670047889852652,
+                    -0.8187843406569126,
+                    -0.5393525054137743
+                ]
+            ],
+            "translation_vector": [
+                0.6311248019573232,
+                -0.25628462617519304,
+                0.46143082404573005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649053186227735,
+                    -0.25925661428483254,
+                    0.041758041657262594
+                ],
+                [
+                    -0.17401714772913565,
+                    -0.512192007203354,
+                    0.8410572989120394
+                ],
+                [
+                    -0.196661532562167,
+                    -0.818807276290682,
+                    -0.5393318884543494
+                ]
+            ],
+            "translation_vector": [
+                0.6311467883965882,
+                -0.2562933766961021,
+                0.46144409257710683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649293674139007,
+                    -0.25918472596331,
+                    0.041648454107367276
+                ],
+                [
+                    -0.17389422068123706,
+                    -0.512249744389124,
+                    0.8410475607163619
+                ],
+                [
+                    -0.1966522715756794,
+                    -0.8187939161966221,
+                    -0.5393555477451993
+                ]
+            ],
+            "translation_vector": [
+                0.6311107969512748,
+                -0.25629457290081303,
+                0.46144706755079623
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649158589965191,
+                    -0.2592331727164446,
+                    0.041659899428293214
+                ],
+                [
+                    -0.17391907882250995,
+                    -0.5121959014552344,
+                    0.8410752121861573
+                ],
+                [
+                    -0.1966965660059653,
+                    -0.8188122621796928,
+                    -0.5393115428262545
+                ]
+            ],
+            "translation_vector": [
+                0.6311292483590432,
+                -0.2562843879954386,
+                0.46144509005824197
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649279869517084,
+                    -0.25920421387645026,
+                    0.04155906045635938
+                ],
+                [
+                    -0.17383081170969433,
+                    -0.5122635615989584,
+                    0.8410522530487027
+                ],
+                [
+                    -0.196715095754425,
+                    -0.8187791026685047,
+                    -0.5393551261791119
+                ]
+            ],
+            "translation_vector": [
+                0.6311049265405069,
+                -0.2562758531036234,
+                0.46142834625702706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649098735954568,
+                    -0.2592542872133271,
+                    0.041667138124780366
+                ],
+                [
+                    -0.17394438367548734,
+                    -0.5122245099620124,
+                    0.8410525564921203
+                ],
+                [
+                    -0.19670355163482595,
+                    -0.8187876806325839,
+                    -0.5393463143644902
+                ]
+            ],
+            "translation_vector": [
+                0.6311354763585582,
+                -0.25627798034569566,
+                0.46142798726510403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649367579826308,
+                    -0.2591817149972307,
+                    0.041495682969008206
+                ],
+                [
+                    -0.17376755574915206,
+                    -0.5122839688192481,
+                    0.8410528948049375
+                ],
+                [
+                    -0.19672795851870037,
+                    -0.8187734570086491,
+                    -0.5393590051488624
+                ]
+            ],
+            "translation_vector": [
+                0.6310901435861512,
+                -0.25627393953219163,
+                0.4614235005496329
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648981561198424,
+                    -0.2592982730097144,
+                    0.04166478045913309
+                ],
+                [
+                    -0.17396757762899198,
+                    -0.512224483491509,
+                    0.8410477753646088
+                ],
+                [
+                    -0.1967405150202387,
+                    -0.8187737685869255,
+                    -0.5393539520792767
+                ]
+            ],
+            "translation_vector": [
+                0.6311371303580124,
+                -0.2562794846681952,
+                0.4614189473094066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649041694853524,
+                    -0.2592859727070358,
+                    0.04160201998880193
+                ],
+                [
+                    -0.17391514805964342,
+                    -0.5122633408090305,
+                    0.8410349522692642
+                ],
+                [
+                    -0.19675737593588374,
+                    -0.81875335359346,
+                    -0.5393787917542624
+                ]
+            ],
+            "translation_vector": [
+                0.6311279610140985,
+                -0.2562678392397282,
+                0.46140844762135885
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649280562283811,
+                    -0.25920976584265826,
+                    0.0415228081313499
+                ],
+                [
+                    -0.1738028732198124,
+                    -0.5122655267640182,
+                    0.8410568300357124
+                ],
+                [
+                    -0.19673944079379813,
+                    -0.8187761155413474,
+                    -0.5393507810833004
+                ]
+            ],
+            "translation_vector": [
+                0.6311025704462059,
+                -0.2562693533702963,
+                0.46142491599668195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648987572007054,
+                    -0.2592861055450257,
+                    0.041726536206929205
+                ],
+                [
+                    -0.17402080790839775,
+                    -0.512251074267898,
+                    0.8410205677189428
+                ],
+                [
+                    -0.19669048468963332,
+                    -0.8187609861141886,
+                    -0.5393916025021883
+                ]
+            ],
+            "translation_vector": [
+                0.631150700493153,
+                -0.2562795799141456,
+                0.46141524676349316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964907313721242,
+                    -0.25928659105578883,
+                    0.04152516858394306
+                ],
+                [
+                    -0.17384597253922937,
+                    -0.5122527548839017,
+                    0.8410557014524918
+                ],
+                [
+                    -0.19680308371350838,
+                    -0.8187597808957897,
+                    -0.5393523592498064
+                ]
+            ],
+            "translation_vector": [
+                0.6311108600291837,
+                -0.25627238613357667,
+                0.4614154229299614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649107791385964,
+                    -0.2592625634933394,
+                    0.04159460870124654
+                ],
+                [
+                    -0.173885365228924,
+                    -0.5122222191409099,
+                    0.8410661555297335
+                ],
+                [
+                    -0.1967512847768761,
+                    -0.8187864931648692,
+                    -0.5393307061065826
+                ]
+            ],
+            "translation_vector": [
+                0.6311203997792457,
+                -0.25628174874845056,
+                0.4614231831600516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648956708879165,
+                    -0.2592974292759976,
+                    0.04172753854011778
+                ],
+                [
+                    -0.17402066383443437,
+                    -0.5122197726343379,
+                    0.8410396620142538
+                ],
+                [
+                    -0.19670575197584006,
+                    -0.8187769828795181,
+                    -0.5393617519312369
+                ]
+            ],
+            "translation_vector": [
+                0.6311476957947502,
+                -0.25628513536314806,
+                0.46142435658707626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649126227064954,
+                    -0.2592667972346125,
+                    0.04152539456018435
+                ],
+                [
+                    -0.1738395528333754,
+                    -0.5122725124446545,
+                    0.8410449945539972
+                ],
+                [
+                    -0.1967827238666157,
+                    -0.8187536875308395,
+                    -0.5393690376192238
+                ]
+            ],
+            "translation_vector": [
+                0.631110942023431,
+                -0.2562771087215282,
+                0.4614084089267151
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648991396740669,
+                    -0.25929790753959947,
+                    0.04164427213712454
+                ],
+                [
+                    -0.1739539080785485,
+                    -0.5122428617237934,
+                    0.8410394095862681
+                ],
+                [
+                    -0.19674777793013445,
+                    -0.8187623866291148,
+                    -0.5393685809545737
+                ]
+            ],
+            "translation_vector": [
+                0.6311339236363283,
+                -0.2562783013503201,
+                0.46141169616977246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649154090304652,
+                    -0.2592431848370373,
+                    0.041607986386268433
+                ],
+                [
+                    -0.17390201089094168,
+                    -0.5122892756706455,
+                    0.8410218716780987
+                ],
+                [
+                    -0.1967138633235008,
+                    -0.8187506758155351,
+                    -0.5393987271285945
+                ]
+            ],
+            "translation_vector": [
+                0.6311237325495754,
+                -0.2562703695108473,
+                0.4614075365183306
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649191140131527,
+                    -0.2592417042702592,
+                    0.041531219331051396
+                ],
+                [
+                    -0.17383130461039104,
+                    -0.5122770191215041,
+                    0.8410439543908722
+                ],
+                [
+                    -0.19675817886309532,
+                    -0.8187588133553358,
+                    -0.539370211082741
+                ]
+            ],
+            "translation_vector": [
+                0.6311056211074201,
+                -0.2562680662025536,
+                0.461413892157205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649021844059785,
+                    -0.2592969476386563,
+                    0.04157965216120694
+                ],
+                [
+                    -0.17389401022715179,
+                    -0.5122302906077437,
+                    0.8410594524711232
+                ],
+                [
+                    -0.1967857914984978,
+                    -0.8187705553628455,
+                    -0.5393423123908668
+                ]
+            ],
+            "translation_vector": [
+                0.6311231203918801,
+                -0.25627627303366085,
+                0.4614105474896382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649016781632332,
+                    -0.2593030423219018,
+                    0.04155338398232431
+                ],
+                [
+                    -0.17388064458336686,
+                    -0.5122553844274742,
+                    0.8410469324385731
+                ],
+                [
+                    -0.1968000836306971,
+                    -0.8187529257154852,
+                    -0.5393638602235823
+                ]
+            ],
+            "translation_vector": [
+                0.6311229432603095,
+                -0.25627119891047767,
+                0.4614002888378107
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649162489459348,
+                    -0.25924120381502386,
+                    0.04160085052789757
+                ],
+                [
+                    -0.17388472537170932,
+                    -0.5122479532038788,
+                    0.8410506148388704
+                ],
+                [
+                    -0.19672502332573863,
+                    -0.8187771569132679,
+                    -0.5393544590661262
+                ]
+            ],
+            "translation_vector": [
+                0.6311178736422499,
+                -0.2562728495151247,
+                0.4614207980253462
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649232312303115,
+                    -0.2592198848967974,
+                    0.041571734461601596
+                ],
+                [
+                    -0.1738421387750519,
+                    -0.5122272777975272,
+                    0.8410720103928381
+                ],
+                [
+                    -0.19672841334736169,
+                    -0.8187968411970249,
+                    -0.5393233392201784
+                ]
+            ],
+            "translation_vector": [
+                0.6311122564459639,
+                -0.256275061534032,
+                0.46143177157195886
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649091487867787,
+                    -0.259267973647129,
+                    0.04159870705305783
+                ],
+                [
+                    -0.17389620674916462,
+                    -0.5122395430916747,
+                    0.8410533632127538
+                ],
+                [
+                    -0.19674969851521062,
+                    -0.8187739421440722,
+                    -0.5393503386482944
+                ]
+            ],
+            "translation_vector": [
+                0.6311176172195193,
+                -0.2562851670188845,
+                0.4614287062568932
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96489728281327,
+                    -0.2593064521215032,
+                    0.041634090691733835
+                ],
+                [
+                    -0.17394740083171267,
+                    -0.5122322963038193,
+                    0.841047190333104
+                ],
+                [
+                    -0.1967626371124875,
+                    -0.8187662905319659,
+                    -0.5393572342381853
+                ]
+            ],
+            "translation_vector": [
+                0.6311371570668248,
+                -0.25627803181845304,
+                0.46141065070097703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649051696836044,
+                    -0.25928824098840336,
+                    0.041564667723853026
+                ],
+                [
+                    -0.1738793881772647,
+                    -0.5122445964467454,
+                    0.8410537627156844
+                ],
+                [
+                    -0.19678407426657968,
+                    -0.8187643626198264,
+                    -0.5393523399585789
+                ]
+            ],
+            "translation_vector": [
+                0.631121121630172,
+                -0.25627385166310085,
+                0.46141937239267683
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649067696974649,
+                    -0.2592790491913182,
+                    0.0415848583314826
+                ],
+                [
+                    -0.17389553259385598,
+                    -0.5122605054648447,
+                    0.8410407352113218
+                ],
+                [
+                    -0.19676196160818948,
+                    -0.8187573200841308,
+                    -0.5393710979212268
+                ]
+            ],
+            "translation_vector": [
+                0.6311203766660508,
+                -0.25627378985720284,
+                0.4614107492383803
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649177249280765,
+                    -0.2592443995551636,
+                    0.04154666555703708
+                ],
+                [
+                    -0.1738452942434854,
+                    -0.5122727693985852,
+                    0.8410436513059834
+                ],
+                [
+                    -0.19675263095832166,
+                    -0.8187606188819705,
+                    -0.539369494112331
+                ]
+            ],
+            "translation_vector": [
+                0.6311114786992384,
+                -0.2562715864243416,
+                0.46141603345465276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649264003298448,
+                    -0.2592168660254269,
+                    0.04151696417663192
+                ],
+                [
+                    -0.17380007620627982,
+                    -0.5122581194727522,
+                    0.8410619195665265
+                ],
+                [
+                    -0.19675003292802548,
+                    -0.8187785020395901,
+                    -0.5393432943317507
+                ]
+            ],
+            "translation_vector": [
+                0.631101305868257,
+                -0.2562633794778755,
+                0.4614162993880317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648891421565984,
+                    -0.25933445754061446,
+                    0.0416483190587394
+                ],
+                [
+                    -0.17397937538902075,
+                    -0.512246825190584,
+                    0.8410317277138915
+                ],
+                [
+                    -0.19677428766876404,
+                    -0.8187483308161808,
+                    -0.5393802466703502
+                ]
+            ],
+            "translation_vector": [
+                0.6311399140380792,
+                -0.2562735641956863,
+                0.4614019109007332
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649192530188215,
+                    -0.259239865345292,
+                    0.04153946761039174
+                ],
+                [
+                    -0.1738308885548727,
+                    -0.5122497642029085,
+                    0.8410606406545776
+                ],
+                [
+                    -0.1967578647419802,
+                    -0.818776447688757,
+                    -0.5393435559755553
+                ]
+            ],
+            "translation_vector": [
+                0.6311084256587148,
+                -0.2562676372619353,
+                0.4614136259470174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649199807986127,
+                    -0.259236077366751,
+                    0.04154620135590338
+                ],
+                [
+                    -0.17383640398903968,
+                    -0.5122573421607222,
+                    0.8410548852783585
+                ],
+                [
+                    -0.19674942262625514,
+                    -0.8187729059964878,
+                    -0.5393520122353327
+                ]
+            ],
+            "translation_vector": [
+                0.6311075184039622,
+                -0.25627082365097154,
+                0.4614205788917685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649107785369253,
+                    -0.25925946510081826,
+                    0.04161393058703211
+                ],
+                [
+                    -0.17390247032251085,
+                    -0.5122307180880314,
+                    0.8410574429031279
+                ],
+                [
+                    -0.1967361692190659,
+                    -0.818782157354847,
+                    -0.5393428024163757
+                ]
+            ],
+            "translation_vector": [
+                0.631127530275208,
+                -0.2562679632918592,
+                0.46142107414338
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964909725435414,
+                    -0.2592695922005205,
+                    0.041575236864384475
+                ],
+                [
+                    -0.17388133523460517,
+                    -0.5122589207914232,
+                    0.841044635751657
+                ],
+                [
+                    -0.19676001376597,
+                    -0.8187613062607333,
+                    -0.5393657574902517
+                ]
+            ],
+            "translation_vector": [
+                0.6311196827609612,
+                -0.2562808915900999,
+                0.46141497348009314
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649094835183486,
+                    -0.2592635066569466,
+                    0.04161877860169793
+                ],
+                [
+                    -0.17391180587259453,
+                    -0.5122423266362467,
+                    0.8410484424695274
+                ],
+                [
+                    -0.1967342684803203,
+                    -0.8187736151820162,
+                    -0.5393564634703889
+                ]
+            ],
+            "translation_vector": [
+                0.6311273427357351,
+                -0.25627218028476517,
+                0.4614213002397948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649087249605205,
+                    -0.2592761919673327,
+                    0.041557295075369156
+                ],
+                [
+                    -0.17386967810919948,
+                    -0.5122597195380674,
+                    0.8410465592183253
+                ],
+                [
+                    -0.1967752208212858,
+                    -0.8187587166056306,
+                    -0.5393641408668495
+                ]
+            ],
+            "translation_vector": [
+                0.6311199706988578,
+                -0.25626494388218685,
+                0.4614065633495977
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649175768291235,
+                    -0.2592413075815521,
+                    0.041569392220955736
+                ],
+                [
+                    -0.1738596506110962,
+                    -0.5122574657806428,
+                    0.8410500048400102
+                ],
+                [
+                    -0.19674067148304664,
+                    -0.8187711726699963,
+                    -0.5393578357537779
+                ]
+            ],
+            "translation_vector": [
+                0.6311124657993219,
+                -0.25626979928949645,
+                0.4614166095764813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649078492684462,
+                    -0.2592784326665384,
+                    0.04156364726687204
+                ],
+                [
+                    -0.1738758615451125,
+                    -0.5122570567797468,
+                    0.8410469027059647
+                ],
+                [
+                    -0.19677405111468974,
+                    -0.818759673001385,
+                    -0.5393631157898904
+                ]
+            ],
+            "translation_vector": [
+                0.6311197195813696,
+                -0.25626960615998917,
+                0.46141118935906655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649164478685597,
+                    -0.2592533731886251,
+                    0.04152032180800937
+                ],
+                [
+                    -0.17382847191100417,
+                    -0.5122768758963843,
+                    0.8410446271006825
+                ],
+                [
+                    -0.19677375583600162,
+                    -0.8187552081740672,
+                    -0.5393700011142942
+                ]
+            ],
+            "translation_vector": [
+                0.631105405989416,
+                -0.2562708487984403,
+                0.4614098656936442
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649080538030215,
+                    -0.25928258769806545,
+                    0.04153296790093902
+                ],
+                [
+                    -0.17384970302058358,
+                    -0.5122495552512591,
+                    0.8410568791137386
+                ],
+                [
+                    -0.19679615968234834,
+                    -0.8187630504984225,
+                    -0.539349922288673
+                ]
+            ],
+            "translation_vector": [
+                0.6311137461358333,
+                -0.2562646513151987,
+                0.4614051939027517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964901039483131,
+                    -0.25930883532870985,
+                    0.041532059000749126
+                ],
+                [
+                    -0.17386885640548266,
+                    -0.5122698328710222,
+                    0.8410405692370284
+                ],
+                [
+                    -0.19681362954994566,
+                    -0.8187420511069181,
+                    -0.5393754248875395
+                ]
+            ],
+            "translation_vector": [
+                0.6311159962125243,
+                -0.2562659952959446,
+                0.4614039039283227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649246661909414,
+                    -0.25923205049346015,
+                    0.04146242362979891
+                ],
+                [
+                    -0.1737649217213656,
+                    -0.5122733756410652,
+                    0.841059891201855
+                ],
+                [
+                    -0.1967895844689663,
+                    -0.8187641495609495,
+                    -0.5393506529506268
+                ]
+            ],
+            "translation_vector": [
+                0.6310951948515336,
+                -0.25626592558378775,
+                0.46142148137677974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649155560423898,
+                    -0.25924692079392714,
+                    0.04158129106067621
+                ],
+                [
+                    -0.17387220718857574,
+                    -0.5122531468442583,
+                    0.8410500396025956
+                ],
+                [
+                    -0.19673948580490502,
+                    -0.8187720974770829,
+                    -0.5393568643469736
+                ]
+            ],
+            "translation_vector": [
+                0.6311199581771065,
+                -0.2562660523592917,
+                0.4614172198296204
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649235779368879,
+                    -0.2592304202783669,
+                    0.04149792698167403
+                ],
+                [
+                    -0.17379777402165072,
+                    -0.5122852036746253,
+                    0.8410458987719797
+                ],
+                [
+                    -0.19676590783617537,
+                    -0.8187572651881321,
+                    -0.5393697416569238
+                ]
+            ],
+            "translation_vector": [
+                0.6310983120946637,
+                -0.2562665960444686,
+                0.46141261535320444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649032870489269,
+                    -0.2592814198388175,
+                    0.041650833947751216
+                ],
+                [
+                    -0.17394740556889376,
+                    -0.5122313964366462,
+                    0.8410477374087719
+                ],
+                [
+                    -0.1967331866717638,
+                    -0.8187747808957787,
+                    -0.5393550884445633
+                ]
+            ],
+            "translation_vector": [
+                0.6311342380911881,
+                -0.2562713017932366,
+                0.4614160479785693
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649399789220515,
+                    -0.25918293457929187,
+                    0.041413083690759814
+                ],
+                [
+                    -0.1737043079454586,
+                    -0.5123174530532191,
+                    0.8410455639846467
+                ],
+                [
+                    -0.1967680118289063,
+                    -0.8187521198262204,
+                    -0.5393767846329411
+                ]
+            ],
+            "translation_vector": [
+                0.6310730728461746,
+                -0.2562726742237078,
+                0.4614210886466107
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648892231362286,
+                    -0.25934487607793333,
+                    0.04158151425437612
+                ],
+                [
+                    -0.17393184526438085,
+                    -0.5122664479926403,
+                    0.841029606770137
+                ],
+                [
+                    -0.1968159045364296,
+                    -0.8187327534141561,
+                    -0.5393887078984708
+                ]
+            ],
+            "translation_vector": [
+                0.6311264232386941,
+                -0.2562798898519891,
+                0.4614060898750762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649162750067057,
+                    -0.2592497584739049,
+                    0.0415469007075764
+                ],
+                [
+                    -0.17384105792276613,
+                    -0.5122414836771068,
+                    0.8410635820082627
+                ],
+                [
+                    -0.1967634844362051,
+                    -0.8187784957676272,
+                    -0.5393383966129475
+                ]
+            ],
+            "translation_vector": [
+                0.6311112023878789,
+                -0.25627012707593416,
+                0.4614168798992357
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649064418101345,
+                    -0.2592803566193582,
+                    0.04158431464679927
+                ],
+                [
+                    -0.17389237985530676,
+                    -0.5122462346072677,
+                    0.8410500789839651
+                ],
+                [
+                    -0.1967663558171549,
+                    -0.8187658345351341,
+                    -0.5393565698278108
+                ]
+            ],
+            "translation_vector": [
+                0.6311206658129032,
+                -0.2562742349831695,
+                0.4614133265397666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649169709197879,
+                    -0.25924388606953164,
+                    0.04156737622883062
+                ],
+                [
+                    -0.1738628031034192,
+                    -0.5122717367019304,
+                    0.8410406610107563
+                ],
+                [
+                    -0.1967408572920305,
+                    -0.8187614275916739,
+                    -0.539372561185718
+                ]
+            ],
+            "translation_vector": [
+                0.6311126176677804,
+                -0.25626935416347746,
+                0.461411734893284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649043525422921,
+                    -0.259292468219257,
+                    0.04155726614812763
+                ],
+                [
+                    -0.17387603822853134,
+                    -0.5122474022272472,
+                    0.8410527464085636
+                ],
+                [
+                    -0.1967910408908166,
+                    -0.8187612685247165,
+                    -0.5393544951040146
+                ]
+            ],
+            "translation_vector": [
+                0.631119579562562,
+                -0.25626640700516307,
+                0.46141110717559597
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648925756493926,
+                    -0.25932508515088815,
+                    0.04162712659031518
+                ],
+                [
+                    -0.17395976686488096,
+                    -0.5122644894061179,
+                    0.8410250248392172
+                ],
+                [
+                    -0.1967747874322261,
+                    -0.8187402476396125,
+                    -0.5393923339518538
+                ]
+            ],
+            "translation_vector": [
+                0.63113122610153,
+                -0.25628638598540004,
+                0.4614147299299845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964912076680131,
+                    -0.2592580312938492,
+                    0.041592757620466304
+                ],
+                [
+                    -0.17388664240805363,
+                    -0.5122450782165733,
+                    0.8410519695208796
+                ],
+                [
+                    -0.19674379245325893,
+                    -0.818773627477421,
+                    -0.5393529707701393
+                ]
+            ],
+            "translation_vector": [
+                0.6311190421793679,
+                -0.2562730269757463,
+                0.46141971375023716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648874018538778,
+                    -0.2593563523209603,
+                    0.04155218711980583
+                ],
+                [
+                    -0.1739106348751856,
+                    -0.512257139721362,
+                    0.8410396624903007
+                ],
+                [
+                    -0.19684357449757753,
+                    -0.8187349420387864,
+                    -0.5393752885178943
+                ]
+            ],
+            "translation_vector": [
+                0.6311258236934029,
+                -0.25627650880497915,
+                0.4613963798704242
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649315579492088,
+                    -0.2592094739701881,
+                    0.04144317890571628
+                ],
+                [
+                    -0.17373982117259926,
+                    -0.5122926674876555,
+                    0.8410533261198697
+                ],
+                [
+                    -0.19677795357363081,
+                    -0.818759226783113,
+                    -0.5393623694186435
+                ]
+            ],
+            "translation_vector": [
+                0.6310885211847699,
+                -0.2562635483339462,
+                0.46141082926281524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648915764174036,
+                    -0.2593203299272816,
+                    0.04167987818052865
+                ],
+                [
+                    -0.17399274092597747,
+                    -0.5122217312743185,
+                    0.8410442462292966
+                ],
+                [
+                    -0.1967505320546899,
+                    -0.8187685048270641,
+                    -0.5393582887464053
+                ]
+            ],
+            "translation_vector": [
+                0.6311432461365684,
+                -0.25627863849499244,
+                0.4614138170388334
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649176426897043,
+                    -0.25924643905245204,
+                    0.04153584794810295
+                ],
+                [
+                    -0.17383672410051115,
+                    -0.5122714697307164,
+                    0.8410462143389833
+                ],
+                [
+                    -0.19676060627104047,
+                    -0.8187607862731064,
+                    -0.5393663306893539
+                ]
+            ],
+            "translation_vector": [
+                0.6311070142381999,
+                -0.2562731610987209,
+                0.4614140513375618
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649153953215512,
+                    -0.25926296489109896,
+                    0.04148487564560229
+                ],
+                [
+                    -0.17379946427833282,
+                    -0.512261818456601,
+                    0.8410597930992189
+                ],
+                [
+                    -0.19680453777293558,
+                    -0.8187615919102539,
+                    -0.5393490794694731
+                ]
+            ],
+            "translation_vector": [
+                0.6311024868762223,
+                -0.2562624484093487,
+                0.4614047117879266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649061032023052,
+                    -0.2592714328603288,
+                    0.04164776231077639
+                ],
+                [
+                    -0.17394373867234283,
+                    -0.5122511441591691,
+                    0.8410364683438586
+                ],
+                [
+                    -0.19672261633993846,
+                    -0.8187655888043748,
+                    -0.5393728977342067
+                ]
+            ],
+            "translation_vector": [
+                0.6311333317304938,
+                -0.25627581123465965,
+                0.4614153111218041
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649016180972408,
+                    -0.2592931477122524,
+                    0.041616474415769836
+                ],
+                [
+                    -0.17392579557704468,
+                    -0.5122380766083376,
+                    0.8410481380429319
+                ],
+                [
+                    -0.1967604762807267,
+                    -0.818766887717171,
+                    -0.5393571159739331
+                ]
+            ],
+            "translation_vector": [
+                0.631128125223606,
+                -0.25627570088658663,
+                0.4614138064853832
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649177706597989,
+                    -0.2592441524102499,
+                    0.04154714558203551
+                ],
+                [
+                    -0.17384214137615403,
+                    -0.5122584985618391,
+                    0.8410529950799317
+                ],
+                [
+                    -0.19675519242621525,
+                    -0.8187696257753225,
+                    -0.5393548870280696
+                ]
+            ],
+            "translation_vector": [
+                0.6311115913873752,
+                -0.2562720315477638,
+                0.4614195602596703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649106145344699,
+                    -0.25926352924332935,
+                    0.041592407516337825
+                ],
+                [
+                    -0.17389046278672693,
+                    -0.5122491096851509,
+                    0.841048724259533
+                ],
+                [
+                    -0.19674758679722018,
+                    -0.8187693643701281,
+                    -0.5393580583048766
+                ]
+            ],
+            "translation_vector": [
+                0.631119497292082,
+                -0.25627405751685733,
+                0.4614144108411619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649066525650766,
+                    -0.25928537880858793,
+                    0.04154809468250259
+                ],
+                [
+                    -0.17386759548838537,
+                    -0.512262472603204,
+                    0.8410453129300105
+                ],
+                [
+                    -0.19678722284423425,
+                    -0.818754084874414,
+                    -0.5393667930330109
+                ]
+            ],
+            "translation_vector": [
+                0.6311181085037276,
+                -0.2562672898423625,
+                0.4614069963695812
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649001680563494,
+                    -0.259294565705685,
+                    0.04164125214651025
+                ],
+                [
+                    -0.1739559350001631,
+                    -0.5122702367615657,
+                    0.8410223167113158
+                ],
+                [
+                    -0.19674094226430888,
+                    -0.8187463176856125,
+                    -0.5393954661592941
+                ]
+            ],
+            "translation_vector": [
+                0.6311292435688739,
+                -0.25628603122364213,
+                0.4614149230672807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649031962606622,
+                    -0.2592976627223049,
+                    0.041551702163788715
+                ],
+                [
+                    -0.17388009609240845,
+                    -0.5122720528525692,
+                    0.8410368933935713
+                ],
+                [
+                    -0.19679312495321868,
+                    -0.8187442005736374,
+                    -0.539379643663146
+                ]
+            ],
+            "translation_vector": [
+                0.6311105267126074,
+                -0.25628906177425637,
+                0.4614091316720959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649036690029473,
+                    -0.2592916378348253,
+                    0.041578312779433996
+                ],
+                [
+                    -0.17389528771558582,
+                    -0.5122531489911312,
+                    0.8410452664743935
+                ],
+                [
+                    -0.19677738298636926,
+                    -0.8187579360822123,
+                    -0.5393645368833883
+                ]
+            ],
+            "translation_vector": [
+                0.6311216741524956,
+                -0.25626755146514096,
+                0.461407629006299
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649205410852245,
+                    -0.25923374571615915,
+                    0.04154773728818009
+                ],
+                [
+                    -0.17383640398698164,
+                    -0.5122573421521575,
+                    0.8410548852840001
+                ],
+                [
+                    -0.19674667478936667,
+                    -0.8187736442345819,
+                    -0.5393518939117115
+                ]
+            ],
+            "translation_vector": [
+                0.6311072537883872,
+                -0.2562708236519435,
+                0.46142207935712176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649225062895455,
+                    -0.259233135658917,
+                    0.04150588190061243
+                ],
+                [
+                    -0.17379736818657734,
+                    -0.5122481755830841,
+                    0.8410685355089803
+                ],
+                [
+                    -0.19677152148449037,
+                    -0.8187795722831923,
+                    -0.5393338301501504
+                ]
+            ],
+            "translation_vector": [
+                0.6311043877178315,
+                -0.25626549104196383,
+                0.4614263956688407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964898093342406,
+                    -0.25930983111394496,
+                    0.041594241811182084
+                ],
+                [
+                    -0.17391563659434017,
+                    -0.5122365807695646,
+                    0.8410511498532601
+                ],
+                [
+                    -0.19678673942157565,
+                    -0.8187625399400994,
+                    -0.5393541344781387
+                ]
+            ],
+            "translation_vector": [
+                0.63112705238679,
+                -0.25627253501170194,
+                0.4614147890163328
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649227913836078,
+                    -0.2592243479839432,
+                    0.0415541102752378
+                ],
+                [
+                    -0.17383571293547273,
+                    -0.5122538043870528,
+                    0.8410571828355118
+                ],
+                [
+                    -0.19673624876133797,
+                    -0.8187788329599704,
+                    -0.5393478201680493
+                ]
+            ],
+            "translation_vector": [
+                0.6311178791327076,
+                -0.2562611308784472,
+                0.4614233078767771
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649187861336657,
+                    -0.2592430118092194,
+                    0.04153067534266851
+                ],
+                [
+                    -0.17382815174196212,
+                    -0.5122627482807145,
+                    0.8410532981838087
+                ],
+                [
+                    -0.19676257222425855,
+                    -0.8187673280926483,
+                    -0.5393556828473389
+                ]
+            ],
+            "translation_vector": [
+                0.6311059102249823,
+                -0.256268511322758,
+                0.4614164695232542
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649129437668841,
+                    -0.25925957379683495,
+                    0.0415630165629203
+                ],
+                [
+                    -0.17386912895546933,
+                    -0.5122763889098364,
+                    0.8410365196361952
+                ],
+                [
+                    -0.19675501759140096,
+                    -0.8187535494641727,
+                    -0.5393793547146813
+                ]
+            ],
+            "translation_vector": [
+                0.6311103731828762,
+                -0.2562828065342741,
+                0.46141891125034556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649248197703939,
+                    -0.259233379585908,
+                    0.04145053798856473
+                ],
+                [
+                    -0.17376171463402126,
+                    -0.5122999597418083,
+                    0.8410443613603189
+                ],
+                [
+                    -0.19679166323428915,
+                    -0.8187470953579075,
+                    -0.5393757828494639
+                ]
+            ],
+            "translation_vector": [
+                0.6310933766852449,
+                -0.2562640178984882,
+                0.46140629692336155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964866018022652,
+                    -0.25941847244401284,
+                    0.041660813961402754
+                ],
+                [
+                    -0.17404031673086137,
+                    -0.512254334165476,
+                    0.8410145452255308
+                ],
+                [
+                    -0.1968337761090132,
+                    -0.8187170166079974,
+                    -0.5394060727310801
+                ]
+            ],
+            "translation_vector": [
+                0.631153592937272,
+                -0.25628798074909304,
+                0.4613987687236972
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649148294475243,
+                    -0.25925852258797927,
+                    0.041525779676653364
+                ],
+                [
+                    -0.17382852837142207,
+                    -0.5122450140889927,
+                    0.8410640215020458
+                ],
+                [
+                    -0.1967816420210011,
+                    -0.8187735120327638,
+                    -0.5393393378542424
+                ]
+            ],
+            "translation_vector": [
+                0.6311075085715707,
+                -0.2562637493393395,
+                0.4614128783110549
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964932538704664,
+                    -0.2592002481951036,
+                    0.04147803134876901
+                ],
+                [
+                    -0.17375475152792275,
+                    -0.5122504281135328,
+                    0.8410759687560766
+                ],
+                [
+                    -0.1967599605367986,
+                    -0.8187885748061581,
+                    -0.5393243807732581
+                ]
+            ],
+            "translation_vector": [
+                0.6310933496146233,
+                -0.25626646622829197,
+                0.46142916697027003
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649022835023577,
+                    -0.2592966934474282,
+                    0.04157893768684424
+                ],
+                [
+                    -0.1738896463260805,
+                    -0.5122153321320221,
+                    0.8410694646873546
+                ],
+                [
+                    -0.19678916177606587,
+                    -0.8187799938299135,
+                    -0.539326753936202
+                ]
+            ],
+            "translation_vector": [
+                0.6311303471389061,
+                -0.25625680781413673,
+                0.4614044222181998
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649031915168406,
+                    -0.25928389413858877,
+                    0.04163764211557441
+                ],
+                [
+                    -0.17394453058355117,
+                    -0.5122613723727122,
+                    0.841030074762427
+                ],
+                [
+                    -0.19673619717958254,
+                    -0.8187552434123123,
+                    -0.5393836483470386
+                ]
+            ],
+            "translation_vector": [
+                0.6311298446418921,
+                -0.2562841637801937,
+                0.4614214551183405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648980323303942,
+                    -0.2593155037514562,
+                    0.04156027813986281
+                ],
+                [
+                    -0.17389842981544365,
+                    -0.5122746068344003,
+                    0.8410315471493233
+                ],
+                [
+                    -0.1968022441758667,
+                    -0.8187369520833842,
+                    -0.5393873190765179
+                ]
+            ],
+            "translation_vector": [
+                0.6311211487022549,
+                -0.25627842387482236,
+                0.4614124027662823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964886351727583,
+                    -0.2593376211064426,
+                    0.04169324320182372
+                ],
+                [
+                    -0.17403235851372081,
+                    -0.5122967996662708,
+                    0.8409903252962239
+                ],
+                [
+                    -0.19674111527585425,
+                    -0.8187160602617662,
+                    -0.5394413278841964
+                ]
+            ],
+            "translation_vector": [
+                0.6311416479774289,
+                -0.2562876315129329,
+                0.46139890472234135
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649410192469536,
+                    -0.2591805988754923,
+                    0.04140346049778886
+                ],
+                [
+                    -0.1736830534438785,
+                    -0.5122694956049666,
+                    0.8410791644185727
+                ],
+                [
+                    -0.19678167171020186,
+                    -0.8187828656238324,
+                    -0.5393251270242877
+                ]
+            ],
+            "translation_vector": [
+                0.6310742188598861,
+                -0.2562661377023814,
+                0.461421796531492
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649057665670107,
+                    -0.25928445376203474,
+                    0.0415744354507984
+                ],
+                [
+                    -0.17389775040163044,
+                    -0.5122946227487667,
+                    0.8410194955575945
+                ],
+                [
+                    -0.19676492078361332,
+                    -0.8187342618579131,
+                    -0.5394050188948898
+                ]
+            ],
+            "translation_vector": [
+                0.6311189651653099,
+                -0.25627762426828576,
+                0.46140962019601356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648972156410244,
+                    -0.25930517541556486,
+                    0.041643597958165315
+                ],
+                [
+                    -0.17396439094511965,
+                    -0.5122715637962553,
+                    0.8410197593450658
+                ],
+                [
+                    -0.19674794517679653,
+                    -0.8187421272466943,
+                    -0.5393992724691663
+                ]
+            ],
+            "translation_vector": [
+                0.6311310563787148,
+                -0.2562844519252004,
+                0.46141271496814457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964925091565354,
+                    -0.25924326963593125,
+                    0.0413823007584803
+                ],
+                [
+                    -0.17370215969959268,
+                    -0.5122760146817726,
+                    0.8410712481695338
+                ],
+                [
+                    -0.19684290026132692,
+                    -0.81875894616806,
+                    -0.5393390961968891
+                ]
+            ],
+            "translation_vector": [
+                0.6310800290559995,
+                -0.2562592563605762,
+                0.46140545725877824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648605965481588,
+                    -0.2594192972218991,
+                    0.041781065778979526
+                ],
+                [
+                    -0.17414142305581165,
+                    -0.5122369319146514,
+                    0.8410042154227065
+                ],
+                [
+                    -0.19677091757886442,
+                    -0.8187276432438088,
+                    -0.5394128772875291
+                ]
+            ],
+            "translation_vector": [
+                0.6311768275314271,
+                -0.25628089077688804,
+                0.4613851306570012
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649252676177442,
+                    -0.25923592866180706,
+                    0.041424162075721256
+                ],
+                [
+                    -0.17373742930701555,
+                    -0.512288480827262,
+                    0.8410563703281047
+                ],
+                [
+                    -0.19681090815962135,
+                    -0.8187534706506878,
+                    -0.5393590832894526
+                ]
+            ],
+            "translation_vector": [
+                0.6310826979912207,
+                -0.2562723507767231,
+                0.4614151723660407
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649019055274657,
+                    -0.25929588715012736,
+                    0.041592735140814505
+                ],
+                [
+                    -0.17390927732786585,
+                    -0.5122488990563978,
+                    0.8410449623384041
+                ],
+                [
+                    -0.19677366685805536,
+                    -0.8187592493050303,
+                    -0.5393638991522313
+                ]
+            ],
+            "translation_vector": [
+                0.6311277081892357,
+                -0.2562710719209442,
+                0.4614088207873127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648926926679517,
+                    -0.2593239389714321,
+                    0.041631554286748786
+                ],
+                [
+                    -0.17396123851705267,
+                    -0.5122572933323373,
+                    0.8410291034925254
+                ],
+                [
+                    -0.1967729125911456,
+                    -0.8187451130261291,
+                    -0.5393856327028266
+                ]
+            ],
+            "translation_vector": [
+                0.6311292321188708,
+                -0.2562848969764843,
+                0.46140798835479546
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964876098401526,
+                    -0.2593759324441508,
+                    0.041692210329700045
+                ],
+                [
+                    -0.17404241699116227,
+                    -0.5122508531280827,
+                    0.8410162308525477
+                ],
+                [
+                    -0.1967824987678604,
+                    -0.8187326725728483,
+                    -0.539401018760994
+                ]
+            ],
+            "translation_vector": [
+                0.6311469736277163,
+                -0.2562936506734334,
+                0.46139969764915706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649239250256969,
+                    -0.25923469192407694,
+                    0.04146315733313593
+                ],
+                [
+                    -0.17376349789270493,
+                    -0.5122584808505888,
+                    0.8410692573128203
+                ],
+                [
+                    -0.19679447581955992,
+                    -0.8187726322366158,
+                    -0.5393359908139163
+                ]
+            ],
+            "translation_vector": [
+                0.6310960932747931,
+                -0.2562609915455041,
+                0.46141667755738575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648625843205035,
+                    -0.25940594195560457,
+                    0.04181806614951306
+                ],
+                [
+                    -0.1741608262227298,
+                    -0.512215383971438,
+                    0.841013321554664
+                ],
+                [
+                    -0.1967439960653834,
+                    -0.8187453558348396,
+                    -0.5393958122854742
+                ]
+            ],
+            "translation_vector": [
+                0.6311765514679624,
+                -0.2562952133943697,
+                0.4614151616023166
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964931860559748,
+                    -0.25922892748550663,
+                    0.04131425457898663
+                ],
+                [
+                    -0.17364407501609955,
+                    -0.5123153685228107,
+                    0.8410592716254545
+                ],
+                [
+                    -0.1968609653753291,
+                    -0.8187388633319239,
+                    -0.539362989072705
+                ]
+            ],
+            "translation_vector": [
+                0.6310654028117936,
+                -0.2562632667542262,
+                0.4613967455663707
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648750323590212,
+                    -0.25937676989500663,
+                    0.04171166706103339
+                ],
+                [
+                    -0.17405183810148162,
+                    -0.512217488307325,
+                    0.841034602335499
+                ],
+                [
+                    -0.19677939318859913,
+                    -0.818753281465771,
+                    -0.5393708691664378
+                ]
+            ],
+            "translation_vector": [
+                0.6311575383533012,
+                -0.2562753745115273,
+                0.46140030747511496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649104506541223,
+                    -0.2592705611746686,
+                    0.04155235645099923
+                ],
+                [
+                    -0.17387024496511416,
+                    -0.512293442779863,
+                    0.8410259011472395
+                ],
+                [
+                    -0.19676625761097782,
+                    -0.8187393996827852,
+                    -0.5393967327235516
+                ]
+            ],
+            "translation_vector": [
+                0.6311085764703779,
+                -0.25628472563046284,
+                0.46141495420595424
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649041767116082,
+                    -0.2593050686579491,
+                    0.04148266062815421
+                ],
+                [
+                    -0.17383035365644262,
+                    -0.5122977746929539,
+                    0.8410315084420583
+                ],
+                [
+                    -0.19683225831191992,
+                    -0.8187257608094083,
+                    -0.5393933543110128
+                ]
+            ],
+            "translation_vector": [
+                0.631102868587194,
+                -0.2562790723822068,
+                0.46139730182957917
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648705751176947,
+                    -0.2593818597812901,
+                    0.041783059826298465
+                ],
+                [
+                    -0.1741162106843177,
+                    -0.51221424484026,
+                    0.8410232532811779
+                ],
+                [
+                    -0.19674429711934005,
+                    -0.8187536981285162,
+                    -0.5393830395478666
+                ]
+            ],
+            "translation_vector": [
+                0.6311709254705407,
+                -0.25627666455709164,
+                0.4614032631600627
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649344504682086,
+                    -0.2592113073947559,
+                    0.04136428916732426
+                ],
+                [
+                    -0.1736684520991361,
+                    -0.512277444622045,
+                    0.8410773379880105
+                ],
+                [
+                    -0.19682676404672894,
+                    -0.8187681710045949,
+                    -0.5393309810354716
+                ]
+            ],
+            "translation_vector": [
+                0.6310721681737169,
+                -0.25626168697150264,
+                0.46141225842437406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964874066037423,
+                    -0.25937943244282086,
+                    0.041717462938806085
+                ],
+                [
+                    -0.17407747966399842,
+                    -0.512296796764153,
+                    0.8409809885479088
+                ],
+                [
+                    -0.19676144887208144,
+                    -0.818702816686756,
+                    -0.5394540111881003
+                ]
+            ],
+            "translation_vector": [
+                0.631152798935857,
+                -0.2562808512026262,
+                0.46138697677976115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648965936678178,
+                    -0.2593098068698042,
+                    0.04162916753175309
+                ],
+                [
+                    -0.1739446312096178,
+                    -0.5122306125669367,
+                    0.8410487886101797
+                ],
+                [
+                    -0.19676846495714687,
+                    -0.8187662814322814,
+                    -0.5393551219632221
+                ]
+            ],
+            "translation_vector": [
+                0.6311380856627269,
+                -0.25626395475101316,
+                0.4614070119533808
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649137077481467,
+                    -0.25926265406616306,
+                    0.04152604973138755
+                ],
+                [
+                    -0.1738304451406046,
+                    -0.5122421399010755,
+                    0.8410653758488614
+                ],
+                [
+                    -0.19678544900968634,
+                    -0.8187740019786512,
+                    -0.5393372050414472
+                ]
+            ],
+            "translation_vector": [
+                0.631111302866476,
+                -0.25626392669258236,
+                0.4614161365509599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649011426380224,
+                    -0.25929186925852477,
+                    0.041635459313652666
+                ],
+                [
+                    -0.1739472485957422,
+                    -0.5122615437192267,
+                    0.8410294082446619
+                ],
+                [
+                    -0.1967438427036785,
+                    -0.8187526105990839,
+                    -0.5393848561049664
+                ]
+            ],
+            "translation_vector": [
+                0.6311282019972726,
+                -0.25628137620725605,
+                0.46141694258412624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964893197054501,
+                    -0.25933049590623175,
+                    0.04157898713259063
+                ],
+                [
+                    -0.17391582644688286,
+                    -0.5122433240810105,
+                    0.8410470035888215
+                ],
+                [
+                    -0.19681057794041942,
+                    -0.818751776075915,
+                    -0.5393617761607632
+                ]
+            ],
+            "translation_vector": [
+                0.6311276068835201,
+                -0.25626863906468156,
+                0.46140641257307313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648794504300469,
+                    -0.259376761475092,
+                    0.041609394906728
+                ],
+                [
+                    -0.17396616085990216,
+                    -0.512231938755384,
+                    0.841043527883407
+                ],
+                [
+                    -0.19683348549847254,
+                    -0.8187442436595166,
+                    -0.5393648509691086
+                ]
+            ],
+            "translation_vector": [
+                0.631141984280296,
+                -0.2562775747153216,
+                0.4614004646264461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648824334436289,
+                    -0.2593579401355395,
+                    0.04165751457481564
+                ],
+                [
+                    -0.1740067816517057,
+                    -0.5122714004382257,
+                    0.8410110892445323
+                ],
+                [
+                    -0.1967829504075917,
+                    -0.8187255163861139,
+                    -0.5394117158972118
+                ]
+            ],
+            "translation_vector": [
+                0.6311419276195426,
+                -0.25628045458673987,
+                0.4613973041358591
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649192585019286,
+                    -0.25924497359398124,
+                    0.041507447986409034
+                ],
+                [
+                    -0.1738116331981113,
+                    -0.5122735698086489,
+                    0.8410501208849023
+                ],
+                [
+                    -0.19677484782637664,
+                    -0.8187599363316206,
+                    -0.5393624253886685
+                ]
+            ],
+            "translation_vector": [
+                0.6311054048983024,
+                -0.2562638827532495,
+                0.4614119588257899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648775316884247,
+                    -0.2593739114686748,
+                    0.04167160774788057
+                ],
+                [
+                    -0.1740258999694447,
+                    -0.5122616760236949,
+                    0.8410130566270775
+                ],
+                [
+                    -0.19679007846605995,
+                    -0.8187265412375704,
+                    -0.5394075599122494
+                ]
+            ],
+            "translation_vector": [
+                0.6311460442834609,
+                -0.2562890216008191,
+                0.46139759637973654
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648938449484267,
+                    -0.25933253237458914,
+                    0.04155124105035491
+                ],
+                [
+                    -0.17389538482517414,
+                    -0.5122540308232775,
+                    0.8410447093001712
+                ],
+                [
+                    -0.1968254635893096,
+                    -0.8187444323825889,
+                    -0.5393674919063682
+                ]
+            ],
+            "translation_vector": [
+                0.6311223429338999,
+                -0.25627428288211307,
+                0.4613959068981557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648775316884247,
+                    -0.2593739114686748,
+                    0.04167160774788057
+                ],
+                [
+                    -0.1740258999694447,
+                    -0.5122616760236949,
+                    0.8410130566270775
+                ],
+                [
+                    -0.19679007846605995,
+                    -0.8187265412375704,
+                    -0.5394075599122494
+                ]
+            ],
+            "translation_vector": [
+                0.6311460442834609,
+                -0.2562890216008191,
+                0.4613976726736819
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649016797982087,
+                    -0.2593019387909682,
+                    0.04156023173467502
+                ],
+                [
+                    -0.173890174260239,
+                    -0.5122728356377193,
+                    0.841034332927874
+                ],
+                [
+                    -0.19679165535748352,
+                    -0.8187423565487102,
+                    -0.5393829789442064
+                ]
+            ],
+            "translation_vector": [
+                0.6311203028529799,
+                -0.2562647900155838,
+                0.4613980865634196
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964914631759259,
+                    -0.25926114177792764,
+                    0.04151401908872447
+                ],
+                [
+                    -0.17382562310783622,
+                    -0.5122693204571176,
+                    0.8410498178286321
+                ],
+                [
+                    -0.19678517771434453,
+                    -0.8187574754971145,
+                    -0.5393623922276428
+                ]
+            ],
+            "translation_vector": [
+                0.631108724963023,
+                -0.2562674029842446,
+                0.4614092828010875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648910161198071,
+                    -0.2593226615632377,
+                    0.0416783422300405
+                ],
+                [
+                    -0.17399274092803566,
+                    -0.5122217312828832,
+                    0.8410442462236545
+                ],
+                [
+                    -0.19675327980909324,
+                    -0.8187677663424008,
+                    -0.539358407446329
+                ]
+            ],
+            "translation_vector": [
+                0.6311435107286143,
+                -0.2562786384940206,
+                0.46141239276492896
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649038684343453,
+                    -0.2592942618730616,
+                    0.04155731512188552
+                ],
+                [
+                    -0.17388633208476087,
+                    -0.5122857678124402,
+                    0.8410272502189966
+                ],
+                [
+                    -0.19678431897522672,
+                    -0.8187366962928452,
+                    -0.5393942472338145
+                ]
+            ],
+            "translation_vector": [
+                0.6311178196835027,
+                -0.2562757530351877,
+                0.46140690240051463
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649072889038737,
+                    -0.259280764277344,
+                    0.04156211130263792
+                ],
+                [
+                    -0.1738758615471708,
+                    -0.5122570567883112,
+                    0.8410469027003227
+                ],
+                [
+                    -0.19677679891543515,
+                    -0.8187589346360339,
+                    -0.5393632341588191
+                ]
+            ],
+            "translation_vector": [
+                0.6311199841659326,
+                -0.2562696061590173,
+                0.4614096888582138
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648994071464854,
+                    -0.2593076997765331,
+                    0.04157704805495916
+                ],
+                [
+                    -0.17390372948616883,
+                    -0.5122544859375325,
+                    0.8410427067085688
+                ],
+                [
+                    -0.19679082031223513,
+                    -0.8187520128057564,
+                    -0.5393686258648717
+                ]
+            ],
+            "translation_vector": [
+                0.6311241013893936,
+                -0.2562659679867093,
+                0.4614020142606495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648791125730296,
+                    -0.2593850285874956,
+                    0.041565671712930005
+                ],
+                [
+                    -0.17392539724033448,
+                    -0.5122011671549398,
+                    0.8410706989070003
+                ],
+                [
+                    -0.19687116171515523,
+                    -0.8187608755367969,
+                    -0.539325851758604
+                ]
+            ],
+            "translation_vector": [
+                0.6311343613483694,
+                -0.25627119775656737,
+                0.4613986410416975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648808365529294,
+                    -0.25936030427660256,
+                    0.041679777092340047
+                ],
+                [
+                    -0.17401666033861657,
+                    -0.512226117522521,
+                    0.8410366261063777
+                ],
+                [
+                    -0.19678204485550377,
+                    -0.8187530989824423,
+                    -0.5393701787540109
+                ]
+            ],
+            "translation_vector": [
+                0.6311492059047584,
+                -0.2562792915973451,
+                0.46140867559979687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649050650695071,
+                    -0.2592873156776614,
+                    0.04157286773705749
+                ],
+                [
+                    -0.17389459772867258,
+                    -0.5122803522594518,
+                    0.8410288399155613
+                ],
+                [
+                    -0.19677114698042797,
+                    -0.8187422846156198,
+                    -0.5393905700866507
+                ]
+            ],
+            "translation_vector": [
+                0.6311194307434609,
+                -0.25627806923713464,
+                0.46141117175464214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649122263991402,
+                    -0.2592663837596104,
+                    0.04153718331409248
+                ],
+                [
+                    -0.17384885566522276,
+                    -0.5122694536034471,
+                    0.8410449347619414
+                ],
+                [
+                    -0.19677644861452961,
+                    -0.8187557322895762,
+                    -0.5393682231218421
+                ]
+            ],
+            "translation_vector": [
+                0.6311136694457697,
+                -0.25626637465033947,
+                0.4614052297833121
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648700793784609,
+                    -0.259402643717816,
+                    0.041665313540287276
+                ],
+                [
+                    -0.17403558652637197,
+                    -0.512256155104938,
+                    0.8410144149653604
+                ],
+                [
+                    -0.19681804933141755,
+                    -0.8187208926058462,
+                    -0.5394059282841284
+                ]
+            ],
+            "translation_vector": [
+                0.6311468285818489,
+                -0.2562838593393834,
+                0.46139590172042444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649088014291947,
+                    -0.25928063385073324,
+                    0.04152779592558734
+                ],
+                [
+                    -0.1738488557884871,
+                    -0.5122694536976866,
+                    0.8410449346790619
+                ],
+                [
+                    -0.19679324242846596,
+                    -0.81875121967435,
+                    -0.5393689460992868
+                ]
+            ],
+            "translation_vector": [
+                0.6311112198830802,
+                -0.2562663747006865,
+                0.46139993774609694
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648807222636043,
+                    -0.25936663475157073,
+                    0.04164301360024744
+                ],
+                [
+                    -0.17398872382531455,
+                    -0.5122280868427622,
+                    0.8410412065000393
+                ],
+                [
+                    -0.1968073062304943,
+                    -0.8187498615737585,
+                    -0.539365876179841
+                ]
+            ],
+            "translation_vector": [
+                0.6311469378737539,
+                -0.25627279079333165,
+                0.46140476940385394
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648934070541356,
+                    -0.25932399839903814,
+                    0.04161462336485016
+                ],
+                [
+                    -0.1739459600523054,
+                    -0.5122549838565914,
+                    0.8410336702508203
+                ],
+                [
+                    -0.19678291593770134,
+                    -0.8187465391489721,
+                    -0.5393798185199707
+                ]
+            ],
+            "translation_vector": [
+                0.6311327192465207,
+                -0.2562720979131992,
+                0.46140000680598836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649070948751668,
+                    -0.25927791933757677,
+                    0.04158435767861238
+                ],
+                [
+                    -0.17389337050482,
+                    -0.5122560241257814,
+                    0.8410439117200244
+                ],
+                [
+                    -0.19676227777203414,
+                    -0.8187604816372271,
+                    -0.5393661833625991
+                ]
+            ],
+            "translation_vector": [
+                0.6311208584135769,
+                -0.25626737399513905,
+                0.46140681437526365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648861699467559,
+                    -0.2593441172753616,
+                    0.04165702677992876
+                ],
+                [
+                    -0.17399811083960617,
+                    -0.5122701199169225,
+                    0.8410136631854145
+                ],
+                [
+                    -0.196772295991403,
+                    -0.8187306963067679,
+                    -0.5394077404480828
+                ]
+            ],
+            "translation_vector": [
+                0.6311397133343791,
+                -0.2562820276891816,
+                0.4614014949165894
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649032451612136,
+                    -0.25930040034907,
+                    0.04153347873909697
+                ],
+                [
+                    -0.1738631720060486,
+                    -0.5122611865084614,
+                    0.8410470107056672
+                ],
+                [
+                    -0.19680783748965422,
+                    -0.8187501323210614,
+                    -0.5393652713392757
+                ]
+            ],
+            "translation_vector": [
+                0.6311117083809938,
+                -0.2562759099564756,
+                0.4614091001720963
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964889890098209,
+                    -0.2593273941576675,
+                    0.04167496401510569
+                ],
+                [
+                    -0.17400171169542047,
+                    -0.5122600066436803,
+                    0.8410190782143298
+                ],
+                [
+                    -0.19675086864695235,
+                    -0.8187423210221949,
+                    -0.5393979119850756
+                ]
+            ],
+            "translation_vector": [
+                0.6311434097998457,
+                -0.25628072192151674,
+                0.46140665672294867
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648919393327671,
+                    -0.25933667362077073,
+                    0.04156964187920871
+                ],
+                [
+                    -0.17392290050154913,
+                    -0.5122918807399718,
+                    0.8410159651332609
+                ],
+                [
+                    -0.1968104928396352,
+                    -0.8187194382956936,
+                    -0.53941089279417
+                ]
+            ],
+            "translation_vector": [
+                0.6311203383842587,
+                -0.2562767739671971,
+                0.46139291258290405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649005370778733,
+                    -0.25931870489711956,
+                    0.04148207850762584
+                ],
+                [
+                    -0.17382945478491635,
+                    -0.5122635774004987,
+                    0.8410525238759005
+                ],
+                [
+                    -0.19685089330762748,
+                    -0.8187428390888828,
+                    -0.5393606300469707
+                ]
+            ],
+            "translation_vector": [
+                0.6311056152984644,
+                -0.25626775758549936,
+                0.4613993425487437
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648504269372029,
+                    -0.2594541739496829,
+                    0.04179934520043673
+                ],
+                [
+                    -0.17416755859057206,
+                    -0.5121960506657824,
+                    0.8410237019353112
+                ],
+                [
+                    -0.19679765032565102,
+                    -0.8187421677808364,
+                    -0.5393810782033791
+                ]
+            ],
+            "translation_vector": [
+                0.6311810698504835,
+                -0.256282013763949,
+                0.46139649338082983
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649328768829575,
+                    -0.2592137510597205,
+                    0.0413856783432249
+                ],
+                [
+                    -0.17369582481684417,
+                    -0.5123079212316218,
+                    0.8410531221537263
+                ],
+                [
+                    -0.1968103237931786,
+                    -0.8187483283066194,
+                    -0.5393671025781426
+                ]
+            ],
+            "translation_vector": [
+                0.6310739505322592,
+                -0.25625793916284306,
+                0.4614114640901056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648666062599591,
+                    -0.2594015061208937,
+                    0.04175273340275022
+                ],
+                [
+                    -0.1741006154733592,
+                    -0.5122124025421404,
+                    0.8410276038120306
+                ],
+                [
+                    -0.19677755922916293,
+                    -0.8187486264441732,
+                    -0.539378604395459
+                ]
+            ],
+            "translation_vector": [
+                0.6311712181842178,
+                -0.25627907332875266,
+                0.461405129884729
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964918247834518,
+                    -0.2592566799868299,
+                    0.04145779634966934
+                ],
+                [
+                    -0.17378982005153273,
+                    -0.5123349031103904,
+                    0.841017268253942
+                ],
+                [
+                    -0.19679906870313185,
+                    -0.8187178518495085,
+                    -0.5394174687758143
+                ]
+            ],
+            "translation_vector": [
+                0.6310900089141906,
+                -0.256276712230028,
+                0.4614035896870324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649059150495911,
+                    -0.2592810432444147,
+                    0.041592255485844665
+                ],
+                [
+                    -0.17389547513366813,
+                    -0.5122286723064438,
+                    0.8410601351836943
+                ],
+                [
+                    -0.1967662034759719,
+                    -0.8187766043807471,
+                    -0.5393402759746265
+                ]
+            ],
+            "translation_vector": [
+                0.631122100580227,
+                -0.2562666854632706,
+                0.4614157366800588
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648968621136499,
+                    -0.25930146590335107,
+                    0.041674875687946075
+                ],
+                [
+                    -0.17398682311949187,
+                    -0.5122603278134975,
+                    0.8410219628102438
+                ],
+                [
+                    -0.1967298423321157,
+                    -0.8187503321091123,
+                    -0.5393934211753046
+                ]
+            ],
+            "translation_vector": [
+                0.6311366275410922,
+                -0.25627343453931795,
+                0.4614176972127512
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649076141844024,
+                    -0.259293350733767,
+                    0.04147594910572386
+                ],
+                [
+                    -0.17380527764690545,
+                    -0.5122457910848809,
+                    0.8410683533327756
+                ],
+                [
+                    -0.19683755117112947,
+                    -0.8187619970303217,
+                    -0.539336416967993
+                ]
+            ],
+            "translation_vector": [
+                0.6311031191006402,
+                -0.2562715041516473,
+                0.46140568488109185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648806617918928,
+                    -0.2593655110909612,
+                    0.041651412419797355
+                ],
+                [
+                    -0.17399574572593424,
+                    -0.5122295274436817,
+                    0.8410388764403813
+                ],
+                [
+                    -0.19680139473417252,
+                    -0.818749316257026,
+                    -0.5393688609470678
+                ]
+            ],
+            "translation_vector": [
+                0.6311441296185598,
+                -0.2562786864216628,
+                0.46140066884485065
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648967883034091,
+                    -0.2593155647011591,
+                    0.04158877042526398
+                ],
+                [
+                    -0.17392087185395086,
+                    -0.5122645069096224,
+                    0.8410330583836779
+                ],
+                [
+                    -0.19678851149223092,
+                    -0.8187432521031001,
+                    -0.5393827665770494
+                ]
+            ],
+            "translation_vector": [
+                0.6311263383875187,
+                -0.25626904344453094,
+                0.4614011096138249
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649308268733955,
+                    -0.2592114390687342,
+                    0.04144790954126944
+                ],
+                [
+                    -0.17374759769511508,
+                    -0.512303173136293,
+                    0.8410453204730776
+                ],
+                [
+                    -0.19677467226399278,
+                    -0.8187520312343667,
+                    -0.5393744892975537
+                ]
+            ],
+            "translation_vector": [
+                0.6310815301585386,
+                -0.25627361684101857,
+                0.4614205874651409
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648715659662102,
+                    -0.25939051308910704,
+                    0.041706389310071396
+                ],
+                [
+                    -0.17406546022574987,
+                    -0.5122604695555001,
+                    0.8410056045515847
+                ],
+                [
+                    -0.19678434070400844,
+                    -0.8187220364996588,
+                    -0.5394164904816502
+                ]
+            ],
+            "translation_vector": [
+                0.631155260763346,
+                -0.2562810767247267,
+                0.4613940703059123
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648821733719919,
+                    -0.2593592795975397,
+                    0.041655198902255185
+                ],
+                [
+                    -0.17399889807840216,
+                    -0.5122437982018614,
+                    0.8410295325797021
+                ],
+                [
+                    -0.19679119638958195,
+                    -0.8187423619737627,
+                    -0.5393831381617162
+                ]
+            ],
+            "translation_vector": [
+                0.6311473481639932,
+                -0.2562782412737921,
+                0.461397763469543
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649107201081936,
+                    -0.2592667577935638,
+                    0.041569827080476324
+                ],
+                [
+                    -0.17387426983907286,
+                    -0.5122559140437174,
+                    0.841047927775323
+                ],
+                [
+                    -0.19676137961555476,
+                    -0.8187640849661453,
+                    -0.5393610411045039
+                ]
+            ],
+            "translation_vector": [
+                0.6311158955255645,
+                -0.25627544344180375,
+                0.46142316275164147
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648931932512836,
+                    -0.25932161307805374,
+                    0.04163444016601751
+                ],
+                [
+                    -0.17395378648209414,
+                    -0.512221376858134,
+                    0.8410525199166221
+                ],
+                [
+                    -0.19677704588158518,
+                    -0.8187683201493291,
+                    -0.5393488964797858
+                ]
+            ],
+            "translation_vector": [
+                0.6311445638109395,
+                -0.2562663891353833,
+                0.4614139101446374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649248100739336,
+                    -0.25924173267190764,
+                    0.04139848964697596
+                ],
+                [
+                    -0.17372360748793894,
+                    -0.5123102046760305,
+                    0.8410459930266482
+                ],
+                [
+                    -0.1968253517846727,
+                    -0.8187380400507058,
+                    -0.5393772359571443
+                ]
+            ],
+            "translation_vector": [
+                0.6310856169142061,
+                -0.25625502949933465,
+                0.4613954998120199
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648969093001448,
+                    -0.2593130354348242,
+                    0.04160173165393149
+                ],
+                [
+                    -0.1739259852708993,
+                    -0.5122448200926045,
+                    0.841043991676917
+                ],
+                [
+                    -0.1967833988693534,
+                    -0.8187563703213996,
+                    -0.5393647188939523
+                ]
+            ],
+            "translation_vector": [
+                0.6311285915443733,
+                -0.256271804951672,
+                0.46140590473266374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964912387842113,
+                    -0.25926594627689326,
+                    0.04153616364060412
+                ],
+                [
+                    -0.17384426933015923,
+                    -0.5122551139036065,
+                    0.8410546167168137
+                ],
+                [
+                    -0.19677970883679796,
+                    -0.8187648425407325,
+                    -0.5393532041337613
+                ]
+            ],
+            "translation_vector": [
+                0.631115064155543,
+                -0.2562595523495294,
+                0.4614089718324311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648771660816824,
+                    -0.25937407835596904,
+                    0.041679033712089635
+                ],
+                [
+                    -0.17403526785845674,
+                    -0.5122733228683677,
+                    0.8410040239016914
+                ],
+                [
+                    -0.19678358649952757,
+                    -0.8187192010417204,
+                    -0.5394210692306985
+                ]
+            ],
+            "translation_vector": [
+                0.6311454147370588,
+                -0.25629325344182613,
+                0.4614001990072176
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649228359275032,
+                    -0.2592430687455955,
+                    0.04143611966619364
+                ],
+                [
+                    -0.1737585580028673,
+                    -0.5123159640275703,
+                    0.8410352647322616
+                ],
+                [
+                    -0.19680417736010808,
+                    -0.8187340131629245,
+                    -0.5393910746978887
+                ]
+            ],
+            "translation_vector": [
+                0.6310828756922766,
+                -0.2562720111098847,
+                0.46140256566486404
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964887208859875,
+                    -0.25935126494009436,
+                    0.04158840646830932
+                ],
+                [
+                    -0.17393771568843946,
+                    -0.5122506164134943,
+                    0.8410380354330491
+                ],
+                [
+                    -0.19682059150324677,
+                    -0.8187406349742073,
+                    -0.5393750340925542
+                ]
+            ],
+            "translation_vector": [
+                0.6311321077193185,
+                -0.25626910922352925,
+                0.4614037795485185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648876690896493,
+                    -0.25934814465474554,
+                    0.041597186237582406
+                ],
+                [
+                    -0.17394045482105266,
+                    -0.5122376291828369,
+                    0.8410453789337359
+                ],
+                [
+                    -0.19681591453789574,
+                    -0.8187497487714347,
+                    -0.5393629062804783
+                ]
+            ],
+            "translation_vector": [
+                0.631134624762462,
+                -0.2562682353652668,
+                0.4614010117324353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649269339255565,
+                    -0.25923013867368266,
+                    0.04142158118961781
+                ],
+                [
+                    -0.17373347272341264,
+                    -0.5122952100873525,
+                    0.8410530887982153
+                ],
+                [
+                    -0.1968062312034049,
+                    -0.8187510933884478,
+                    -0.5393643985606885
+                ]
+            ],
+            "translation_vector": [
+                0.6310877258133216,
+                -0.2562614096110385,
+                0.4614075275312767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648699945713775,
+                    -0.2593855973117813,
+                    0.04177326277705409
+                ],
+                [
+                    -0.17410603122753823,
+                    -0.5121984896786029,
+                    0.8410349559091784
+                ],
+                [
+                    -0.1967561522952354,
+                    -0.8187623703359654,
+                    -0.5393655508611999
+                ]
+            ],
+            "translation_vector": [
+                0.6311659541230962,
+                -0.25628852189114804,
+                0.4614152280596061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649017080568975,
+                    -0.2593100725613158,
+                    0.04150879493706236
+                ],
+                [
+                    -0.1738587711700677,
+                    -0.5123092757539063,
+                    0.8410186286068473
+                ],
+                [
+                    -0.1968192609378359,
+                    -0.8187169793309245,
+                    -0.5394114257958676
+                ]
+            ],
+            "translation_vector": [
+                0.6311109912643728,
+                -0.25627778165497556,
+                0.46139590453124035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649017509941387,
+                    -0.25930307138214004,
+                    0.04155151140733858
+                ],
+                [
+                    -0.17388633220322192,
+                    -0.5122857678866911,
+                    0.8410272501492769
+                ],
+                [
+                    -0.19679470115162173,
+                    -0.8187339062189453,
+                    -0.5393946944549156
+                ]
+            ],
+            "translation_vector": [
+                0.631114752831402,
+                -0.25627575308780226,
+                0.46140500969877224
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648813341069852,
+                    -0.25934911048412523,
+                    0.04173787228666079
+                ],
+                [
+                    -0.17405818736774745,
+                    -0.5122149494882311,
+                    0.8410348345526617
+                ],
+                [
+                    -0.19674287408233798,
+                    -0.8187636315884224,
+                    -0.5393684798780509
+                ]
+            ],
+            "translation_vector": [
+                0.6311575400101027,
+                -0.25627751358056133,
+                0.4614078829363915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649144897088986,
+                    -0.25926384350459875,
+                    0.04150044579324995
+                ],
+                [
+                    -0.17382672173106795,
+                    -0.5123166594493598,
+                    0.8410207555482079
+                ],
+                [
+                    -0.19678490379611285,
+                    -0.81872699961701,
+                    -0.5394087520017476
+                ]
+            ],
+            "translation_vector": [
+                0.6310983368785673,
+                -0.2562768663380331,
+                0.46140576170737596
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648967804489674,
+                    -0.25930902965946195,
+                    0.041629679512167964
+                ],
+                [
+                    -0.17394463120893158,
+                    -0.5122306125640819,
+                    0.8410487886120604
+                ],
+                [
+                    -0.19676754903389498,
+                    -0.8187665275823713,
+                    -0.5393550824437459
+                ]
+            ],
+            "translation_vector": [
+                0.6311379974708643,
+                -0.2562639547513371,
+                0.4614075630002285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648803846357016,
+                    -0.25937287552564026,
+                    0.041611954854603554
+                ],
+                [
+                    -0.17396616085647043,
+                    -0.5122319387411104,
+                    0.8410435278928101
+                ],
+                [
+                    -0.196828905961806,
+                    -0.8187454747203702,
+                    -0.5393646534607124
+                ]
+            ],
+            "translation_vector": [
+                0.6311415433479132,
+                -0.2562775747169411,
+                0.46140283840862356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649094311469761,
+                    -0.2592747392383611,
+                    0.04154996120935223
+                ],
+                [
+                    -0.17387042415064816,
+                    -0.5122928924450733,
+                    0.8410261993279008
+                ],
+                [
+                    -0.19677109871445184,
+                    -0.8187384209521013,
+                    -0.5393964523127373
+                ]
+            ],
+            "translation_vector": [
+                0.6311107935076822,
+                -0.2562720551554488,
+                0.46140592173235845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648856937648052,
+                    -0.25934880510511577,
+                    0.04163886716229335
+                ],
+                [
+                    -0.1739793755131268,
+                    -0.512246825285461,
+                    0.8410317276304317
+                ],
+                [
+                    -0.19679119610407575,
+                    -0.8187437860988718,
+                    -0.5393809765466446
+                ]
+            ],
+            "translation_vector": [
+                0.6311374476273734,
+                -0.25627356424638137,
+                0.46139665843533173
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648884413763922,
+                    -0.2593536879104413,
+                    0.04154467794423514
+                ],
+                [
+                    -0.1739071839319052,
+                    -0.5122763738878678,
+                    0.8410286607085232
+                ],
+                [
+                    -0.1968415278215225,
+                    -0.8187237515325612,
+                    -0.5393930214614736
+                ]
+            ],
+            "translation_vector": [
+                0.6311274870448802,
+                -0.2562683624892455,
+                0.46138471373336065
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648998861160818,
+                    -0.25930822503946804,
+                    0.041562653910126944
+                ],
+                [
+                    -0.17389274532939256,
+                    -0.5122597310004906,
+                    0.8410417832171668
+                ],
+                [
+                    -0.19679817807840444,
+                    -0.8187485648367181,
+                    -0.5393711752428331
+                ]
+            ],
+            "translation_vector": [
+                0.6311243095684713,
+                -0.2562664391760763,
+                0.4614013841128165
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648981848446684,
+                    -0.2593040613618399,
+                    0.04162807519834954
+                ],
+                [
+                    -0.1739428073618429,
+                    -0.5122407128924166,
+                    0.8410430142522732
+                ],
+                [
+                    -0.19676227445967656,
+                    -0.8187617820933779,
+                    -0.5393642104670378
+                ]
+            ],
+            "translation_vector": [
+                0.6311346642583328,
+                -0.25627254296678514,
+                0.4614121492006989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649178186104073,
+                    -0.2592550551369001,
+                    0.041477942500763074
+                ],
+                [
+                    -0.17378575419465406,
+                    -0.5122488163879247,
+                    0.841070545048491
+                ],
+                [
+                    -0.19680476357834661,
+                    -0.8187722311455938,
+                    -0.5393328457805421
+                ]
+            ],
+            "translation_vector": [
+                0.6310982222958631,
+                -0.25626682787131777,
+                0.4614147250560941
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648911071679085,
+                    -0.2593328324436494,
+                    0.041612898541702865
+                ],
+                [
+                    -0.17395643013076578,
+                    -0.5122836944893754,
+                    0.8410140169916768
+                ],
+                [
+                    -0.19678493774790803,
+                    -0.8187257772765375,
+                    -0.5394105949075173
+                ]
+            ],
+            "translation_vector": [
+                0.6311300255460908,
+                -0.2562782449853742,
+                0.4614001450293035
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648840590266793,
+                    -0.2593596823310985,
+                    0.04160898721804544
+                ],
+                [
+                    -0.17396739755141896,
+                    -0.5122793585729067,
+                    0.8410143895138288
+                ],
+                [
+                    -0.1968097996172608,
+                    -0.8187199850750213,
+                    -0.5394103158203138
+                ]
+            ],
+            "translation_vector": [
+                0.6311329978569857,
+                -0.25628450044537865,
+                0.46139387039623114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649110931504438,
+                    -0.259269987979933,
+                    0.04154101164031789
+                ],
+                [
+                    -0.17385360560931204,
+                    -0.5122667221211473,
+                    0.8410456166129736
+                ],
+                [
+                    -0.196777809043239,
+                    -0.8187562999697411,
+                    -0.5393668650631052
+                ]
+            ],
+            "translation_vector": [
+                0.6311148766575196,
+                -0.25626376946724905,
+                0.4614091978041952
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649011184196122,
+                    -0.25929866836894816,
+                    0.041593656423447534
+                ],
+                [
+                    -0.17391514818153173,
+                    -0.5122633408975582,
+                    0.8410349521901382
+                ],
+                [
+                    -0.19677233775502448,
+                    -0.818749332918545,
+                    -0.5393794368900804
+                ]
+            ],
+            "translation_vector": [
+                0.6311253351254071,
+                -0.25626783929072405,
+                0.461404181103479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649108885218638,
+                    -0.2592743267199686,
+                    0.04151867911982117
+                ],
+                [
+                    -0.1738272924026016,
+                    -0.5122278687134214,
+                    0.8410747189930791
+                ],
+                [
+                    -0.19680205697077485,
+                    -0.8187792339924196,
+                    -0.5393232021291675
+                ]
+            ],
+            "translation_vector": [
+                0.6311087017842445,
+                -0.2562643720280179,
+                0.46141571920229013
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648857669379263,
+                    -0.2593477082694382,
+                    0.041644002881569823
+                ],
+                [
+                    -0.17398669285737395,
+                    -0.5122612652931369,
+                    0.84102141874558
+                ],
+                [
+                    -0.19678436794919368,
+                    -0.8187350989762592,
+                    -0.5393966538968995
+                ]
+            ],
+            "translation_vector": [
+                0.6311378623628541,
+                -0.2562801562538749,
+                0.46140265102525846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648892083974299,
+                    -0.25934454633906556,
+                    0.04158391278325534
+                ],
+                [
+                    -0.17392880049171106,
+                    -0.5122458728145154,
+                    0.8410427683203808
+                ],
+                [
+                    -0.1968186675030996,
+                    -0.8187457310231787,
+                    -0.539368000583669
+                ]
+            ],
+            "translation_vector": [
+                0.6311297141781339,
+                -0.2562757487941156,
+                0.4613968611290961
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649078492684462,
+                    -0.2592784326665384,
+                    0.04156364726687204
+                ],
+                [
+                    -0.1738758615451125,
+                    -0.5122570567797468,
+                    0.8410469027059647
+                ],
+                [
+                    -0.19677405111468974,
+                    -0.818759673001385,
+                    -0.5393631157898904
+                ]
+            ],
+            "translation_vector": [
+                0.6311197195813696,
+                -0.25626960615998917,
+                0.46141118935906655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648944525506338,
+                    -0.2593206102872055,
+                    0.04161149501380984
+                ],
+                [
+                    -0.17394787366347944,
+                    -0.5122823858728747,
+                    0.8410165838866375
+                ],
+                [
+                    -0.1967760978497318,
+                    -0.8187304673729119,
+                    -0.539406701024715
+                ]
+            ],
+            "translation_vector": [
+                0.6311280134441413,
+                -0.2562798232006753,
+                0.4614033862034561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648982056721838,
+                    -0.2593149280409137,
+                    0.04155984583388849
+                ],
+                [
+                    -0.17389346759291038,
+                    -0.512256905945111,
+                    0.8410433545543629
+                ],
+                [
+                    -0.19680577892712955,
+                    -0.8187482094067002,
+                    -0.5393689414252626
+                ]
+            ],
+            "translation_vector": [
+                0.6311210862725684,
+                -0.2562741054137011,
+                0.4613974660003728
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648768477823401,
+                    -0.2593847221654828,
+                    0.0416201215850078
+                ],
+                [
+                    -0.17398045824326597,
+                    -0.5122335035092466,
+                    0.841039617397484
+                ],
+                [
+                    -0.1968336067928409,
+                    -0.8187407427200496,
+                    -0.5393701210181588
+                ]
+            ],
+            "translation_vector": [
+                0.6311425243782554,
+                -0.25627047429341293,
+                0.46139725878272964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649113910073074,
+                    -0.25926970869701677,
+                    0.04153583581086929
+                ],
+                [
+                    -0.17385551962385248,
+                    -0.5122941241293699,
+                    0.8410285302407061
+                ],
+                [
+                    -0.19677465741467734,
+                    -0.8187392433093007,
+                    -0.5393939058467851
+                ]
+            ],
+            "translation_vector": [
+                0.6311105236123703,
+                -0.2562714947879204,
+                0.4614106016317747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648972884908499,
+                    -0.2593112599383566,
+                    0.04160400379996883
+                ],
+                [
+                    -0.17393453782402288,
+                    -0.512276406867565,
+                    0.8410229839420567
+                ],
+                [
+                    -0.19677398002517835,
+                    -0.8187371699367505,
+                    -0.539397300094292
+                ]
+            ],
+            "translation_vector": [
+                0.6311254349003078,
+                -0.2562777743576639,
+                0.4614032530799183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648944099624316,
+                    -0.25932944832480576,
+                    0.041557368237207154
+                ],
+                [
+                    -0.1739058563553057,
+                    -0.5122827412529414,
+                    0.8410250567846951
+                ],
+                [
+                    -0.19681344148349897,
+                    -0.8187274456410532,
+                    -0.5393976631442683
+                ]
+            ],
+            "translation_vector": [
+                0.6311223633964752,
+                -0.2562804300354281,
+                0.46139983698989606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648982180570455,
+                    -0.25931319743552117,
+                    0.04157035513565946
+                ],
+                [
+                    -0.17390101141943928,
+                    -0.5122543150891531,
+                    0.8410433727815937
+                ],
+                [
+                    -0.19679905237992004,
+                    -0.8187503785088035,
+                    -0.5393681031300019
+                ]
+            ],
+            "translation_vector": [
+                0.6311232066084622,
+                -0.25626875558496703,
+                0.461401709148325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964886657349693,
+                    -0.2593515768528231,
+                    0.041599255431921736
+                ],
+                [
+                    -0.17394866085548427,
+                    -0.5122560644353572,
+                    0.8410324534973564
+                ],
+                [
+                    -0.1968136221279406,
+                    -0.8187371275526434,
+                    -0.5393829012044477
+                ]
+            ],
+            "translation_vector": [
+                0.6311333749821412,
+                -0.25627603675618105,
+                0.4613934130727284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648974880731507,
+                    -0.25931808660220984,
+                    0.041556798133317245
+                ],
+                [
+                    -0.1738864076934559,
+                    -0.5122310424110816,
+                    0.8410605664337869
+                ],
+                [
+                    -0.19681553477708444,
+                    -0.8187633902119867,
+                    -0.5393423366647428
+                ]
+            ],
+            "translation_vector": [
+                0.6311216452208254,
+                -0.2562673341473063,
+                0.4614054068163459
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649041634746012,
+                    -0.25928282046441287,
+                    0.041621801035028716
+                ],
+                [
+                    -0.17393194488022434,
+                    -0.5122690223027312,
+                    0.8410280181653801
+                ],
+                [
+                    -0.19674255731682236,
+                    -0.818750797130008,
+                    -0.5393880776763739
+                ]
+            ],
+            "translation_vector": [
+                0.6311278688484918,
+                -0.2562692492451189,
+                0.4613976421752818
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649067591127891,
+                    -0.2592866292117094,
+                    0.04153781566817752
+                ],
+                [
+                    -0.1738590392747436,
+                    -0.5122611635065625,
+                    0.8410478790326779
+                ],
+                [
+                    -0.19679425977633888,
+                    -0.818754507941747,
+                    -0.5393635833499981
+                ]
+            ],
+            "translation_vector": [
+                0.6311135586145906,
+                -0.2562688684073543,
+                0.46140534366946356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648872481367191,
+                    -0.2593444807146343,
+                    0.04162978147920526
+                ],
+                [
+                    -0.17398058825777077,
+                    -0.5122951506967914,
+                    0.8410020413066975
+                ],
+                [
+                    -0.19678250250626883,
+                    -0.8187149191845772,
+                    -0.539427963505751
+                ]
+            ],
+            "translation_vector": [
+                0.6311382284581046,
+                -0.256269909774576,
+                0.4613859914649233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648994189560056,
+                    -0.2593054987716996,
+                    0.04159049897660574
+                ],
+                [
+                    -0.17391974766505802,
+                    -0.5122776100482838,
+                    0.8410253097352903
+                ],
+                [
+                    -0.19677660600408142,
+                    -0.8187382417781515,
+                    -0.5393947151942962
+                ]
+            ],
+            "translation_vector": [
+                0.6311251027376766,
+                -0.2562772188247812,
+                0.4614083316889224
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648989250543368,
+                    -0.2593040358080391,
+                    0.04161107355799288
+                ],
+                [
+                    -0.1739258131462956,
+                    -0.5122317242638419,
+                    0.8410520032549068
+                ],
+                [
+                    -0.1967736668113531,
+                    -0.8187674136599202,
+                    -0.5393515054009397
+                ]
+            ],
+            "translation_vector": [
+                0.6311329703460536,
+                -0.2562736703954734,
+                0.46140617903260084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648994189560056,
+                    -0.2593054987716996,
+                    0.04159049897660574
+                ],
+                [
+                    -0.17391974766505802,
+                    -0.5122776100482838,
+                    0.8410253097352903
+                ],
+                [
+                    -0.19677660600408142,
+                    -0.8187382417781515,
+                    -0.5393947151942962
+                ]
+            ],
+            "translation_vector": [
+                0.6311251027376766,
+                -0.2562772188247812,
+                0.4614084842768131
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964893572620615,
+                    -0.25932286204872135,
+                    0.04161786556619467
+                ],
+                [
+                    -0.17395408895633863,
+                    -0.5122797627335351,
+                    0.8410168961614524
+                ],
+                [
+                    -0.19677491824619367,
+                    -0.8187313954603995,
+                    -0.5394057226584373
+                ]
+            ],
+            "translation_vector": [
+                0.631127761358609,
+                -0.25628449976586004,
+                0.4614080148588332
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648804917074312,
+                    -0.2593741260914335,
+                    0.04160167588849401
+                ],
+                [
+                    -0.17395760460506302,
+                    -0.512230630055975,
+                    0.8410460947133207
+                ],
+                [
+                    -0.19683594316713274,
+                    -0.818745897300722,
+                    -0.5393614438674137
+                ]
+            ],
+            "translation_vector": [
+                0.6311369934235407,
+                -0.25627915307710053,
+                0.46140126189464475
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648959939833154,
+                    -0.2593197485584029,
+                    0.04158111112700802
+                ],
+                [
+                    -0.17391974778832126,
+                    -0.5122776101425164,
+                    0.8410253096524019
+                ],
+                [
+                    -0.1967933995950997,
+                    -0.8187337284821472,
+                    -0.5393954390996689
+                ]
+            ],
+            "translation_vector": [
+                0.6311226532173433,
+                -0.25627721887512916,
+                0.46140311573122206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648931903696315,
+                    -0.25932681218126963,
+                    0.041602111271124884
+                ],
+                [
+                    -0.1739345414867932,
+                    -0.5122461290749317,
+                    0.841041424975921
+                ],
+                [
+                    -0.19679407119141976,
+                    -0.818751187926863,
+                    -0.5393686919095856
+                ]
+            ],
+            "translation_vector": [
+                0.6311307800554461,
+                -0.25627022655798193,
+                0.4614017141129252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649018984112142,
+                    -0.2592940916624485,
+                    0.041604092002839176
+                ],
+                [
+                    -0.17391229754811796,
+                    -0.5122245656425639,
+                    0.8410591579156734
+                ],
+                [
+                    -0.19677103243102073,
+                    -0.8187750413765875,
+                    -0.5393408870230382
+                ]
+            ],
+            "translation_vector": [
+                0.6311266058187793,
+                -0.2562674234194511,
+                0.46141194129052615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964893003563306,
+                    -0.25932758937705064,
+                    0.04160159927779128
+                ],
+                [
+                    -0.17393454148747936,
+                    -0.5122461290777864,
+                    0.8410414249740402
+                ],
+                [
+                    -0.1967949871112635,
+                    -0.818750941759893,
+                    -0.5393687314028929
+                ]
+            ],
+            "translation_vector": [
+                0.6311308682417568,
+                -0.256270226557658,
+                0.46140123936687405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649000585725611,
+                    -0.2593126966289512,
+                    0.041530739623678155
+                ],
+                [
+                    -0.17386125780117423,
+                    -0.512233784106581,
+                    0.841064095925897
+                ],
+                [
+                    -0.19682515083815336,
+                    -0.818763382050562,
+                    -0.5393388398870085
+                ]
+            ],
+            "translation_vector": [
+                0.6311133305805677,
+                -0.2562681848880994,
+                0.4614038682135758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648911845102793,
+                    -0.25932793083143063,
+                    0.04164164195897564
+                ],
+                [
+                    -0.17397110929137377,
+                    -0.5122522412867299,
+                    0.8410301388349001
+                ],
+                [
+                    -0.19677158124658053,
+                    -0.8187470095135683,
+                    -0.5393832396601786
+                ]
+            ],
+            "translation_vector": [
+                0.6311408406689333,
+                -0.25627124763080655,
+                0.4614026879861277
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648918451012358,
+                    -0.2593361296415979,
+                    0.04157522242453394
+                ],
+                [
+                    -0.17392087198354986,
+                    -0.5122645070273377,
+                    0.8410330582851785
+                ],
+                [
+                    -0.19681274741645885,
+                    -0.8187367383369061,
+                    -0.5393838111695884
+                ]
+            ],
+            "translation_vector": [
+                0.6311245773714208,
+                -0.256269043492634,
+                0.4613919831468757
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648933018502174,
+                    -0.2593273098612121,
+                    0.041596422980015646
+                ],
+                [
+                    -0.17393645551372353,
+                    -0.5122735310926312,
+                    0.841024338996922
+                ],
+                [
+                    -0.1967918328790806,
+                    -0.8187338857663301,
+                    -0.5393957719616072
+                ]
+            ],
+            "translation_vector": [
+                0.631126515201491,
+                -0.2562779518665885,
+                0.46140271977600117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648820807152871,
+                    -0.2593730076411998,
+                    0.041571783960952825
+                ],
+                [
+                    -0.1739262923452542,
+                    -0.5122114378217715,
+                    0.8410642590168641
+                ],
+                [
+                    -0.19685582324526554,
+                    -0.8187582585059596,
+                    -0.539335423445111
+                ]
+            ],
+            "translation_vector": [
+                0.6311317465411913,
+                -0.25627699845624635,
+                0.46140455853845985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649080416118156,
+                    -0.2592774345891926,
+                    0.041565408041993816
+                ],
+                [
+                    -0.17388441422205836,
+                    -0.5122886427912525,
+                    0.8410258955333944
+                ],
+                [
+                    -0.1967655501440792,
+                    -0.818740226433234,
+                    -0.5393957358902223
+                ]
+            ],
+            "translation_vector": [
+                0.6311166511756139,
+                -0.25627557557802894,
+                0.4614080630089798
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648997353195803,
+                    -0.25930639146052686,
+                    0.04157759165613768
+                ],
+                [
+                    -0.17390688208845373,
+                    -0.5122687567582618,
+                    0.841033362722085
+                ],
+                [
+                    -0.19678642519868375,
+                    -0.8187434984151419,
+                    -0.5393831538530454
+                ]
+            ],
+            "translation_vector": [
+                0.6311238121184426,
+                -0.25626552290394455,
+                0.4613995132807854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649031197658342,
+                    -0.25929072012598325,
+                    0.04159677779238723
+                ],
+                [
+                    -0.17390293955240715,
+                    -0.5122202102718848,
+                    0.8410637453867915
+                ],
+                [
+                    -0.19677331394574832,
+                    -0.8187788337796569,
+                    -0.5393342973270222
+                ]
+            ],
+            "translation_vector": [
+                0.6311274048709774,
+                -0.2562719669009151,
+                0.4614186104722351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648869839736771,
+                    -0.25935109733817285,
+                    0.04159466874092394
+                ],
+                [
+                    -0.17394753735551866,
+                    -0.5122691673338515,
+                    0.8410247050158712
+                ],
+                [
+                    -0.19681301381293875,
+                    -0.8187290812647177,
+                    -0.5393953365438933
+                ]
+            ],
+            "translation_vector": [
+                0.6311291606989148,
+                -0.2562842123085139,
+                0.4613981916458773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649001473185239,
+                    -0.2592995624590388,
+                    0.041610606979977934
+                ],
+                [
+                    -0.1739259851483235,
+                    -0.5122448200012223,
+                    0.8410439917579225
+                ],
+                [
+                    -0.19676752118903235,
+                    -0.8187606373601911,
+                    -0.5393640341315477
+                ]
+            ],
+            "translation_vector": [
+                0.6311311292114761,
+                -0.2562718049010001,
+                0.46141072234136477
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648999149753412,
+                    -0.25930058627971647,
+                    0.04160961470110604
+                ],
+                [
+                    -0.17392913775407337,
+                    -0.5122590908451432,
+                    0.8410346478514614
+                ],
+                [
+                    -0.1967658738722336,
+                    -0.8187513846104337,
+                    -0.5393786805925811
+                ]
+            ],
+            "translation_vector": [
+                0.6311311046002595,
+                -0.256271359800079,
+                0.46140679714420646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648827219160004,
+                    -0.2593718012814604,
+                    0.04156442767536776
+                ],
+                [
+                    -0.1739232942478316,
+                    -0.5122285188633963,
+                    0.841054476345613
+                ],
+                [
+                    -0.19685532928003865,
+                    -0.8187479546008173,
+                    -0.5393512456377807
+                ]
+            ],
+            "translation_vector": [
+                0.6311319724551541,
+                -0.25627188615396534,
+                0.4613958906305343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648952055097173,
+                    -0.25932546361318437,
+                    0.04156376193473716
+                ],
+                [
+                    -0.17390326948927018,
+                    -0.5122583152902904,
+                    0.8410404694643986
+                ],
+                [
+                    -0.19681182699549016,
+                    -0.8187439907185645,
+                    -0.5393731383902398
+                ]
+            ],
+            "translation_vector": [
+                0.6311257082820868,
+                -0.2562625096964468,
+                0.4613924178203557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648936305047637,
+                    -0.25933126760879865,
+                    0.04156411254616155
+                ],
+                [
+                    -0.17390799558125405,
+                    -0.5122628400878108,
+                    0.8410367362595289
+                ],
+                [
+                    -0.1968153725811244,
+                    -0.818739321338351,
+                    -0.539378932486401
+                ]
+            ],
+            "translation_vector": [
+                0.6311277022127962,
+                -0.25626866510684554,
+                0.4614023319480389
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648939281301241,
+                    -0.25932180771324653,
+                    0.041616192785420364
+                ],
+                [
+                    -0.17394359107804733,
+                    -0.5122446694674758,
+                    0.8410404423837355
+                ],
+                [
+                    -0.19678245496103638,
+                    -0.8187536861880322,
+                    -0.5393691377646828
+                ]
+            ],
+            "translation_vector": [
+                0.6311349454784031,
+                -0.25627630427609005,
+                0.46140229082222206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648937688503141,
+                    -0.2593252521399987,
+                    0.04159841867623685
+                ],
+                [
+                    -0.1739301179475727,
+                    -0.5122448429816785,
+                    0.8410431230973947
+                ],
+                [
+                    -0.19679514451474883,
+                    -0.8187524866778739,
+                    -0.539366328810223
+                ]
+            ],
+            "translation_vector": [
+                0.631126564906711,
+                -0.2562788465621819,
+                0.46141053421127626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648999675509873,
+                    -0.25930536818543937,
+                    0.04157858403454697
+                ],
+                [
+                    -0.17390372948411026,
+                    -0.512254485928968,
+                    0.841042706714211
+                ],
+                [
+                    -0.1967880725339356,
+                    -0.8187527512478128,
+                    -0.5393685074534071
+                ]
+            ],
+            "translation_vector": [
+                0.6311238368269029,
+                -0.25626596798768103,
+                0.46140343847928145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648977155157272,
+                    -0.2593127697624379,
+                    0.041584685049469654
+                ],
+                [
+                    -0.1739119956981074,
+                    -0.5122490701416228,
+                    0.8410442960340103
+                ],
+                [
+                    -0.19679180964875592,
+                    -0.8187537954581802,
+                    -0.5393655588540968
+                ]
+            ],
+            "translation_vector": [
+                0.6311229816536686,
+                -0.2562682844394448,
+                0.46140230305785257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649022402050885,
+                    -0.2592996072273727,
+                    0.04156176775513658
+                ],
+                [
+                    -0.1738901742581803,
+                    -0.5122728356291552,
+                    0.841034332933516
+                ],
+                [
+                    -0.1967889075727118,
+                    -0.8187430949743606,
+                    -0.5393828605806306
+                ]
+            ],
+            "translation_vector": [
+                0.6311200383016743,
+                -0.25626479001655544,
+                0.4613995107712343
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649062671781672,
+                    -0.25928162683054207,
+                    0.04158044670760079
+                ],
+                [
+                    -0.17389276240184764,
+                    -0.5122588203406833,
+                    0.8410423343491257
+                ],
+                [
+                    -0.1967668741037238,
+                    -0.8187575581155142,
+                    -0.5393689444936279
+                ]
+            ],
+            "translation_vector": [
+                0.6311212167067215,
+                -0.2562597128050628,
+                0.46140781423886246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648943781980194,
+                    -0.259328495113252,
+                    0.04156405350966695
+                ],
+                [
+                    -0.17391463481685204,
+                    -0.5122972963443927,
+                    0.8410143755933943
+                ],
+                [
+                    -0.19680584015313013,
+                    -0.8187186401814253,
+                    -0.5394138017339741
+                ]
+            ],
+            "translation_vector": [
+                0.6311211054174668,
+                -0.25627445768955404,
+                0.46139452264850256
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648968168406971,
+                    -0.25931435672561476,
+                    0.04159563975552462
+                ],
+                [
+                    -0.17392801340513844,
+                    -0.5122721944659101,
+                    0.8410268990525945
+                ],
+                [
+                    -0.19678205965898607,
+                    -0.8187388247622448,
+                    -0.5393918407088727
+                ]
+            ],
+            "translation_vector": [
+                0.6311244407074071,
+                -0.2562795351467427,
+                0.4614063593907827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964904040975278,
+                    -0.25928483400119257,
+                    0.04161209639699564
+                ],
+                [
+                    -0.17392609563288502,
+                    -0.5122750700161548,
+                    0.8410255441411065
+                ],
+                [
+                    -0.19674832900809935,
+                    -0.8187463755626144,
+                    -0.5393926839841294
+                ]
+            ],
+            "translation_vector": [
+                0.6311258980461796,
+                -0.256279357595548,
+                0.46141178649538117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648958071776278,
+                    -0.2593205257376108,
+                    0.04158059910828464
+                ],
+                [
+                    -0.17391974778900737,
+                    -0.5122776101453713,
+                    0.8410253096505216
+                ],
+                [
+                    -0.19679431551760518,
+                    -0.8187334823218828,
+                    -0.539395478573042
+                ]
+            ],
+            "translation_vector": [
+                0.6311227414049845,
+                -0.25627721887480526,
+                0.46140264099288536
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648955261322552,
+                    -0.25932075880630123,
+                    0.04158566702702784
+                ],
+                [
+                    -0.17391771925756438,
+                    -0.5122502361129184,
+                    0.8410424023380191
+                ],
+                [
+                    -0.19679748620906148,
+                    -0.8187505356666239,
+                    -0.5393684360132791
+                ]
+            ],
+            "translation_vector": [
+                0.6311270686006486,
+                -0.2562694885282444,
+                0.4614012368748091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649002485550779,
+                    -0.2593051351153858,
+                    0.04157351610268212
+                ],
+                [
+                    -0.17390575773117703,
+                    -0.5122818601308906,
+                    0.8410256138838933
+                ],
+                [
+                    -0.19678490228239975,
+                    -0.8187356976971419,
+                    -0.5393955501763806
+                ]
+            ],
+            "translation_vector": [
+                0.6311195096655755,
+                -0.25627369827650565,
+                0.46140484244608193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648930695483267,
+                    -0.2593283334380181,
+                    0.041595430204152795
+                ],
+                [
+                    -0.17393960805908398,
+                    -0.5122878015983336,
+                    0.8410149945641866
+                ],
+                [
+                    -0.19679018544089188,
+                    -0.8187246324679666,
+                    -0.5394104180532046
+                ]
+            ],
+            "translation_vector": [
+                0.6311264904673302,
+                -0.25627750690754764,
+                0.46139871826958423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648955261322552,
+                    -0.25932075880630123,
+                    0.04158566702702784
+                ],
+                [
+                    -0.17391771925756438,
+                    -0.5122502361129184,
+                    0.8410424023380191
+                ],
+                [
+                    -0.19679748620906148,
+                    -0.8187505356666239,
+                    -0.5393684360132791
+                ]
+            ],
+            "translation_vector": [
+                0.6311270686006486,
+                -0.2562694885282444,
+                0.4614011605808637
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648919804580113,
+                    -0.25932887846895325,
+                    0.04161729015507911
+                ],
+                [
+                    -0.1739538853005023,
+                    -0.5122666274673571,
+                    0.841024939090441
+                ],
+                [
+                    -0.19678290534667095,
+                    -0.818737708411708,
+                    -0.5393932266798206
+                ]
+            ],
+            "translation_vector": [
+                0.6311297796989457,
+                -0.2562863510950406,
+                0.46140251971507873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648933018502174,
+                    -0.2593273098612121,
+                    0.041596422980015646
+                ],
+                [
+                    -0.17393645551372353,
+                    -0.5122735310926312,
+                    0.841024338996922
+                ],
+                [
+                    -0.1967918328790806,
+                    -0.8187338857663301,
+                    -0.5393957719616072
+                ]
+            ],
+            "translation_vector": [
+                0.631126515201491,
+                -0.2562779518665885,
+                0.4614026434820559
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648832816686287,
+                    -0.2593648274763582,
+                    0.04159493989101083
+                ],
+                [
+                    -0.17395597961918735,
+                    -0.5122705041435277,
+                    0.8410221446188352
+                ],
+                [
+                    -0.19682370261507307,
+                    -0.8187238953717517,
+                    -0.5393993077824613
+                ]
+            ],
+            "translation_vector": [
+                0.6311313232907652,
+                -0.25628262908904065,
+                0.46139407711496266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649002597339211,
+                    -0.25930667065218493,
+                    0.041563677901396506
+                ],
+                [
+                    -0.1738927453280201,
+                    -0.5122597309947806,
+                    0.8410417832209287
+                ],
+                [
+                    -0.19679634622547254,
+                    -0.8187490571331577,
+                    -0.5393710963296694
+                ]
+            ],
+            "translation_vector": [
+                0.6311241331951246,
+                -0.2562664391767241,
+                0.46140233359238364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648889420696268,
+                    -0.25934510917795106,
+                    0.0415865821778255
+                ],
+                [
+                    -0.17392981601377558,
+                    -0.5122390736842992,
+                    0.8410466993529346
+                ],
+                [
+                    -0.19681907573497678,
+                    -0.8187498065566354,
+                    -0.5393616650173626
+                ]
+            ],
+            "translation_vector": [
+                0.6311307504548854,
+                -0.25627215965642136,
+                0.46140468572249577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648973243824354,
+                    -0.2593137199249725,
+                    0.041587835460510716
+                ],
+                [
+                    -0.17392561803962225,
+                    -0.512292051695829,
+                    0.8410152990040154
+                ],
+                [
+                    -0.1967816881448907,
+                    -0.8187266017590675,
+                    -0.539410528987798
+                ]
+            ],
+            "translation_vector": [
+                0.6311233469555577,
+                -0.2562739862563423,
+                0.46140044502022615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649035804037535,
+                    -0.25929087253708055,
+                    0.04158514089162689
+                ],
+                [
+                    -0.17390181223263493,
+                    -0.5122573611940654,
+                    0.8410413518993571
+                ],
+                [
+                    -0.19677205143572182,
+                    -0.8187555430783062,
+                    -0.5393701145339119
+                ]
+            ],
+            "translation_vector": [
+                0.6311229328954009,
+                -0.2562657905096023,
+                0.4614030985937392
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648963076783824,
+                    -0.25931486098448264,
+                    0.041604306282196926
+                ],
+                [
+                    -0.1739396079365078,
+                    -0.5122878015069573,
+                    0.8410149946451978
+                ],
+                [
+                    -0.1967743078237561,
+                    -0.8187288997585018,
+                    -0.5394097333944899
+                ]
+            ],
+            "translation_vector": [
+                0.6311290282494505,
+                -0.2562775068568749,
+                0.46140353583985155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648989525807901,
+                    -0.2593114875702266,
+                    0.04156397144896282
+                ],
+                [
+                    -0.1738916751304957,
+                    -0.5122427070875434,
+                    0.8410523731349523
+                ],
+                [
+                    -0.19680370074976766,
+                    -0.8187581825238397,
+                    -0.5393545604900865
+                ]
+            ],
+            "translation_vector": [
+                0.6311236586900949,
+                -0.25626453836200597,
+                0.46140005888154356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964898845309889,
+                    -0.25930578989876224,
+                    0.04160199087329886
+                ],
+                [
+                    -0.1739243581978898,
+                    -0.5122544207320264,
+                    0.8410384807284077
+                ],
+                [
+                    -0.196775343844434,
+                    -0.8187526584784169,
+                    -0.5393732921543574
+                ]
+            ],
+            "translation_vector": [
+                0.6311308027278173,
+                -0.2562677325781603,
+                0.4614019986889902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649001600154863,
+                    -0.2593043697804427,
+                    0.041580344092575536
+                ],
+                [
+                    -0.17391228202260647,
+                    -0.512286072261535,
+                    0.8410216990830492
+                ],
+                [
+                    -0.19677957049393854,
+                    -0.8187333045501552,
+                    -0.5394011277858104
+                ]
+            ],
+            "translation_vector": [
+                0.6311207683539125,
+                -0.2562719374717201,
+                0.4614003119551382
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649052687838846,
+                    -0.25929310201344585,
+                    0.041532030065295926
+                ],
+                [
+                    -0.17385932949176777,
+                    -0.5122678884737307,
+                    0.8410437229938398
+                ],
+                [
+                    -0.1968013105184333,
+                    -0.8187482504939542,
+                    -0.5393705094749962
+                ]
+            ],
+            "translation_vector": [
+                0.6311165855318494,
+                -0.25626497355478595,
+                0.46140240495611545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648933018502174,
+                    -0.2593273098612121,
+                    0.041596422980015646
+                ],
+                [
+                    -0.17393645551372353,
+                    -0.5122735310926312,
+                    0.841024338996922
+                ],
+                [
+                    -0.1967918328790806,
+                    -0.8187338857663301,
+                    -0.5393957719616072
+                ]
+            ],
+            "translation_vector": [
+                0.631126515201491,
+                -0.2562779518665885,
+                0.46140271977600117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649021234100622,
+                    -0.2593060723698988,
+                    0.04152412637070316
+                ],
+                [
+                    -0.17385299168822732,
+                    -0.5122391999312321,
+                    0.8410625061996667
+                ],
+                [
+                    -0.1968223298302468,
+                    -0.8187620917494337,
+                    -0.5393418281519482
+                ]
+            ],
+            "translation_vector": [
+                0.6311142739374529,
+                -0.25626586852044897,
+                0.461404452579391
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648701436907686,
+                    -0.2594102169333206,
+                    0.04161664528482818
+                ],
+                [
+                    -0.17399446355274803,
+                    -0.5122434663386225,
+                    0.8410306521443698
+                ],
+                [
+                    -0.19685408928225773,
+                    -0.8187264320540777,
+                    -0.5393843685062192
+                ]
+            ],
+            "translation_vector": [
+                0.6311451815315801,
+                -0.25627627963173405,
+                0.46138848268253263
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648892127856022,
+                    -0.2593437938111194,
+                    0.04158850396006887
+                ],
+                [
+                    -0.17393927182692467,
+                    -0.5122745832347596,
+                    0.8410231156680372
+                ],
+                [
+                    -0.1968093919666952,
+                    -0.8187280061066123,
+                    -0.5393982899957979
+                ]
+            ],
+            "translation_vector": [
+                0.6311299991830773,
+                -0.25628189597251416,
+                0.461399367083308
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648995916630462,
+                    -0.2593147536472252,
+                    0.041528743652634904
+                ],
+                [
+                    -0.1738675957364485,
+                    -0.5122624727951769,
+                    0.8410453127618025
+                ],
+                [
+                    -0.19682184116940443,
+                    -0.8187447816668209,
+                    -0.5393682835800008
+                ]
+            ],
+            "translation_vector": [
+                0.6311132807244115,
+                -0.2562672899430787,
+                0.4613959011760022
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649007903411381,
+                    -0.25929997642744607,
+                    0.04159311269637438
+                ],
+                [
+                    -0.17391199557537262,
+                    -0.5122490700524501,
+                    0.8410442961137016
+                ],
+                [
+                    -0.19677673285741615,
+                    -0.8187578472632345,
+                    -0.5393649088982663
+                ]
+            ],
+            "translation_vector": [
+                0.6311256243456048,
+                -0.2562682843881042,
+                0.4614066820777514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649029649211848,
+                    -0.2593016808264683,
+                    0.04153199497827042
+                ],
+                [
+                    -0.1738695099128633,
+                    -0.5122898745454434,
+                    0.8410282266136343
+                ],
+                [
+                    -0.19680361228637916,
+                    -0.8187317770544772,
+                    -0.53939467501288
+                ]
+            ],
+            "translation_vector": [
+                0.6311115704653978,
+                -0.2562750152697636,
+                0.4614016841115847
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648746133742719,
+                    -0.2593785704741702,
+                    0.04171016236632686
+                ],
+                [
+                    -0.17405499036387415,
+                    -0.5122317592006072,
+                    0.8410252583577279
+                ],
+                [
+                    -0.1967786594000504,
+                    -0.8187437829046565,
+                    -0.539385555201186
+                ]
+            ],
+            "translation_vector": [
+                0.631157601788865,
+                -0.25627492941636276,
+                0.4613958312708842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649266222403904,
+                    -0.25923375823041733,
+                    0.04140618656052221
+                ],
+                [
+                    -0.17371379794314337,
+                    -0.5122605381461457,
+                    0.8410782707111093
+                ],
+                [
+                    -0.1968251256723084,
+                    -0.81877164072283,
+                    -0.5393263114776853
+                ]
+            ],
+            "translation_vector": [
+                0.6310828356430926,
+                -0.2562602565314011,
+                0.46140951971994754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648686314720339,
+                    -0.2594055098331472,
+                    0.04168099650307552
+                ],
+                [
+                    -0.17404812604549702,
+                    -0.5122446063423653,
+                    0.8410188541841415
+                ],
+                [
+                    -0.19681405900325097,
+                    -0.8187272102118998,
+                    -0.5393977951728248
+                ]
+            ],
+            "translation_vector": [
+                0.6311493260521722,
+                -0.25628862701332616,
+                0.46139350472491814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649065910783068,
+                    -0.2592986776900808,
+                    0.04146644718102258
+                ],
+                [
+                    -0.1737972460862106,
+                    -0.5122341125687022,
+                    0.8410771255799335
+                ],
+                [
+                    -0.19684965772510274,
+                    -0.8187676164023158,
+                    -0.5393234674890203
+                ]
+            ],
+            "translation_vector": [
+                0.6311076342498392,
+                -0.2562598029077067,
+                0.4614088434011155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648748001650983,
+                    -0.2593777932851849,
+                    0.04171067437562993
+                ],
+                [
+                    -0.1740549903631878,
+                    -0.5122317591977527,
+                    0.8410252583596087
+                ],
+                [
+                    -0.19677774349766405,
+                    -0.81874402912002,
+                    -0.5393855156048261
+                ]
+            ],
+            "translation_vector": [
+                0.6311575136076155,
+                -0.2562749294166866,
+                0.4613964586302026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649079729176823,
+                    -0.25928811193561874,
+                    0.04150034709194569
+                ],
+                [
+                    -0.17383609406412373,
+                    -0.5122980315996499,
+                    0.8410301654635544
+                ],
+                [
+                    -0.19680857755804002,
+                    -0.8187309703608303,
+                    -0.5393940878166861
+                ]
+            ],
+            "translation_vector": [
+                0.6311040227585752,
+                -0.25627354987192225,
+                0.46140175552926427
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649058421368476,
+                    -0.2592922950775871,
+                    0.041523746502192656
+                ],
+                [
+                    -0.17384443518334675,
+                    -0.5122378905970273,
+                    0.8410650722699707
+                ],
+                [
+                    -0.1968116565805086,
+                    -0.8187672741079149,
+                    -0.5393378557860838
+                ]
+            ],
+            "translation_vector": [
+                0.6311120853647116,
+                -0.25626744706767685,
+                0.4614086430863316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648975679619991,
+                    -0.25931423205883813,
+                    0.041578989799591
+                ],
+                [
+                    -0.17390945318038106,
+                    -0.5122556520832139,
+                    0.8410408129236667
+                ],
+                [
+                    -0.19679478000069087,
+                    -0.8187492143266681,
+                    -0.5393714291691241
+                ]
+            ],
+            "translation_vector": [
+                0.631127995194725,
+                -0.25626717208484223,
+                0.4614019376227111
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648921716122681,
+                    -0.2593356502165759,
+                    0.041570634925475435
+                ],
+                [
+                    -0.17391974791380324,
+                    -0.5122776102431024,
+                    0.841025309565185
+                ],
+                [
+                    -0.19681213998877328,
+                    -0.8187286916740868,
+                    -0.5393962467265392
+                ]
+            ],
+            "translation_vector": [
+                0.6311203631911317,
+                -0.25627721892517463,
+                0.4613969140962208
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648867971493704,
+                    -0.25935187451296926,
+                    0.041594156722298346
+                ],
+                [
+                    -0.17394753735620513,
+                    -0.5122691673367061,
+                    0.8410247050139906
+                ],
+                [
+                    -0.1968139297268911,
+                    -0.8187288350746951,
+                    -0.5393953760301357
+                ]
+            ],
+            "translation_vector": [
+                0.6311292488819543,
+                -0.2562842123081899,
+                0.4613977931953087
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964897148920824,
+                    -0.2593160325251785,
+                    0.04157748525182734
+                ],
+                [
+                    -0.17391260577906928,
+                    -0.5122699228812322,
+                    0.8410314688894766
+                ],
+                [
+                    -0.19679404857769286,
+                    -0.8187397152860347,
+                    -0.539386115002735
+                ]
+            ],
+            "translation_vector": [
+                0.6311280586418668,
+                -0.25626672701282927,
+                0.4613974613856902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964886071466672,
+                    -0.2593485458534837,
+                    0.041631728925135024
+                ],
+                [
+                    -0.1739709039654223,
+                    -0.5122380855209744,
+                    0.8410388030972537
+                ],
+                [
+                    -0.1967968334680878,
+                    -0.8187493361862901,
+                    -0.5393704949581903
+                ]
+            ],
+            "translation_vector": [
+                0.6311367194934102,
+                -0.2562689153067238,
+                0.4613971703949606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648863335308417,
+                    -0.25935213220887354,
+                    0.04160330376448564
+                ],
+                [
+                    -0.17395597949729347,
+                    -0.5122705040550098,
+                    0.8410221446979642
+                ],
+                [
+                    -0.19680874107250987,
+                    -0.8187279170725383,
+                    -0.5393986626267407
+                ]
+            ],
+            "translation_vector": [
+                0.6311339493328912,
+                -0.2562826290380429,
+                0.4613984200157796
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648864193289446,
+                    -0.25935193962059166,
+                    0.04160251446253124
+                ],
+                [
+                    -0.1739466381137708,
+                    -0.5122349660520492,
+                    0.8410457220880281
+                ],
+                [
+                    -0.19681657674973663,
+                    -0.8187502128052808,
+                    -0.5393619602343327
+                ]
+            ],
+            "translation_vector": [
+                0.6311345500836107,
+                -0.2562728977557347,
+                0.46140476456170515
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648978488697727,
+                    -0.2593139992962648,
+                    0.041573922300673756
+                ],
+                [
+                    -0.17391148211040017,
+                    -0.5122830257805245,
+                    0.841023720169244
+                ],
+                [
+                    -0.19679160967035575,
+                    -0.8187321608842097,
+                    -0.539398471537715
+                ]
+            ],
+            "translation_vector": [
+                0.6311236679987198,
+                -0.25627490258224417,
+                0.46140334164561614
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648994870343242,
+                    -0.2593056720578693,
+                    0.04158783908205787
+                ],
+                [
+                    -0.17391228561076486,
+                    -0.5122557948940563,
+                    0.8410401402496188
+                ],
+                [
+                    -0.19678286722816632,
+                    -0.8187518360505066,
+                    -0.5393717958230543
+                ]
+            ],
+            "translation_vector": [
+                0.6311285630422045,
+                -0.25626438950479813,
+                0.4614040654534225
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648961975730475,
+                    -0.2593148944207226,
+                    0.041606651399077536
+                ],
+                [
+                    -0.17393577662399226,
+                    -0.5122632757104487,
+                    0.8410307259361037
+                ],
+                [
+                    -0.1967782343636702,
+                    -0.8187442347216685,
+                    -0.5393850244405625
+                ]
+            ],
+            "translation_vector": [
+                0.6311300277533815,
+                -0.2562696039581226,
+                0.4613964995442677
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649137893014443,
+                    -0.25927218987497763,
+                    0.04146457250909058
+                ],
+                [
+                    -0.17379318345954015,
+                    -0.5122872745722862,
+                    0.8410455859787257
+                ],
+                [
+                    -0.1968179580194009,
+                    -0.8187427433991296,
+                    -0.5393727945793526
+                ]
+            ],
+            "translation_vector": [
+                0.6310962744001073,
+                -0.256259073138908,
+                0.4613930882623075
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648931314715159,
+                    -0.25931917085142425,
+                    0.04165108003427667
+                ],
+                [
+                    -0.1739709037173692,
+                    -0.5122380853290065,
+                    0.8410388032654825
+                ],
+                [
+                    -0.19676221562803597,
+                    -0.8187586406062554,
+                    -0.5393690007163399
+                ]
+            ],
+            "translation_vector": [
+                0.6311415472141751,
+                -0.25626891520600364,
+                0.4614082664139708
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649179708166173,
+                    -0.2592557185945421,
+                    0.041470254052378794
+                ],
+                [
+                    -0.17379431362047582,
+                    -0.5123107216760259,
+                    0.841031070180512
+                ],
+                [
+                    -0.19679645867832307,
+                    -0.8187332879710078,
+                    -0.5393949916525494
+                ]
+            ],
+            "translation_vector": [
+                0.6310918166676668,
+                -0.25626303698839137,
+                0.4614033997715926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964884002489601,
+                    -0.2593494396466383,
+                    0.04167409140728026
+                ],
+                [
+                    -0.17401504719815256,
+                    -0.5122659844499324,
+                    0.8410126779806391
+                ],
+                [
+                    -0.1967679473091905,
+                    -0.8187315978576352,
+                    -0.5394079583962508
+                ]
+            ],
+            "translation_vector": [
+                0.63114336239503,
+                -0.2562827710215424,
+                0.46140244704413175
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648853400831047,
+                    -0.2593606945027882,
+                    0.04157295562914748
+                ],
+                [
+                    -0.17393195325585817,
+                    -0.5122601437035816,
+                    0.841033424311655
+                ],
+                [
+                    -0.19683484480475924,
+                    -0.8187316870134059,
+                    -0.5393834151611161
+                ]
+            ],
+            "translation_vector": [
+                0.6311273109825853,
+                -0.25627530375414165,
+                0.4613871326057454
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648720496234235,
+                    -0.2594104705902416,
+                    0.04157085040798896
+                ],
+                [
+                    -0.173959811619702,
+                    -0.5122647568844391,
+                    0.8410248526621343
+                ],
+                [
+                    -0.19687537122944498,
+                    -0.8187130306781957,
+                    -0.53939694252099
+                ]
+            ],
+            "translation_vector": [
+                0.6311309274232597,
+                -0.2562829839012188,
+                0.4613879278339673
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649091849322087,
+                    -0.259287729178547,
+                    0.04147455040013711
+                ],
+                [
+                    -0.17380909109015455,
+                    -0.5122801518478709,
+                    0.841046637159401
+                ],
+                [
+                    -0.1968264837055099,
+                    -0.8187422790598732,
+                    -0.5393703883158305
+                ]
+            ],
+            "translation_vector": [
+                0.6311028766525927,
+                -0.2562627706417979,
+                0.4613964784077517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964891433478308,
+                    -0.2593360898417179,
+                    0.04158502261373622
+                ],
+                [
+                    -0.1739262755485833,
+                    -0.5122515452102802,
+                    0.8410398356222367
+                ],
+                [
+                    -0.19680999027990118,
+                    -0.818744860707711,
+                    -0.5393724879809281
+                ]
+            ],
+            "translation_vector": [
+                0.6311294333963776,
+                -0.25626791012888117,
+                0.46139602043264877
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648965536050744,
+                    -0.2593249244378768,
+                    0.04153582076159495
+                ],
+                [
+                    -0.1738785624862484,
+                    -0.5122581375837707,
+                    0.8410456860283647
+                ],
+                [
+                    -0.1968270467917599,
+                    -0.8187442726788972,
+                    -0.5393671565888473
+                ]
+            ],
+            "translation_vector": [
+                0.6311184550819752,
+                -0.25627354500487964,
+                0.4613963792606155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964896535706886,
+                    -0.25931458983599115,
+                    0.04160070767476981
+                ],
+                [
+                    -0.17392598527227163,
+                    -0.5122448200983138,
+                    0.8410439916731559
+                ],
+                [
+                    -0.19678523071592424,
+                    -0.8187558780128774,
+                    -0.5393647978793598
+                ]
+            ],
+            "translation_vector": [
+                0.6311287679244997,
+                -0.2562718049510242,
+                0.46140495524463265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648917173795474,
+                    -0.25933596204286796,
+                    0.041579231879006515
+                ],
+                [
+                    -0.17391419680371145,
+                    -0.5122226003526321,
+                    0.8410599620943253
+                ],
+                [
+                    -0.19681927213174014,
+                    -0.8187630099603231,
+                    -0.5393415500758719
+                ]
+            ],
+            "translation_vector": [
+                0.6311306906737415,
+                -0.25627432727227595,
+                0.46140537632802736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649112745404927,
+                    -0.2592747719744258,
+                    0.0415069257142913
+                ],
+                [
+                    -0.17382552984675279,
+                    -0.5122620945851037,
+                    0.841054238218189
+                ],
+                [
+                    -0.19680172112595418,
+                    -0.8187576803113924,
+                    -0.5393560451992454
+                ]
+            ],
+            "translation_vector": [
+                0.6311056209688273,
+                -0.2562586373614991,
+                0.4613969834698362
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648951070626789,
+                    -0.25932255938697857,
+                    0.04158416236366964
+                ],
+                [
+                    -0.17392087186012659,
+                    -0.5122645069353154,
+                    0.8410330583667512
+                ],
+                [
+                    -0.19679675479518074,
+                    -0.8187410366699015,
+                    -0.5393831218853444
+                ]
+            ],
+            "translation_vector": [
+                0.6311271320429271,
+                -0.25626904344161566,
+                0.4613967606403521
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964894640420054,
+                    -0.25932509887305344,
+                    0.04157915322773736
+                ],
+                [
+                    -0.1739162614193027,
+                    -0.5122574239002382,
+                    0.8410383259239882
+                ],
+                [
+                    -0.19680311710587156,
+                    -0.8187446639542592,
+                    -0.539375294524916
+                ]
+            ],
+            "translation_vector": [
+                0.6311294015324446,
+                -0.2562709814973288,
+                0.4614060503223313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648850023992369,
+                    -0.2593527690260967,
+                    0.04163019749558042
+                ],
+                [
+                    -0.17397059626901062,
+                    -0.5122322700587072,
+                    0.8410424086479283
+                ],
+                [
+                    -0.1968023469850647,
+                    -0.8187516367672191,
+                    -0.5393649909960513
+                ]
+            ],
+            "translation_vector": [
+                0.6311390750779939,
+                -0.25627953648859564,
+                0.4614000333698663
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964877537192806,
+                    -0.2593903498174544,
+                    0.04156903465711182
+                ],
+                [
+                    -0.1739410733294812,
+                    -0.5122414632049218,
+                    0.8410429158982726
+                ],
+                [
+                    -0.19686503302956973,
+                    -0.8187339798709099,
+                    -0.5393689173237619
+                ]
+            ],
+            "translation_vector": [
+                0.6311340356182915,
+                -0.2562745201378144,
+                0.4613913749509034
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648883718281203,
+                    -0.2593511183324543,
+                    0.041562330668339455
+                ],
+                [
+                    -0.17391310842811053,
+                    -0.5122431533456141,
+                    0.841047669616541
+                ],
+                [
+                    -0.19683663436401108,
+                    -0.8187453506861869,
+                    -0.5393620213752555
+                ]
+            ],
+            "translation_vector": [
+                0.6311243339348717,
+                -0.2562714266947368,
+                0.4614002278654517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648958062385897,
+                    -0.2593194786648013,
+                    0.041587150517893634
+                ],
+                [
+                    -0.17391138157849406,
+                    -0.51222154737394,
+                    0.841061185505137
+                ],
+                [
+                    -0.1968017135612432,
+                    -0.8187688894864428,
+                    -0.5393390317309661
+                ]
+            ],
+            "translation_vector": [
+                0.6311272065106619,
+                -0.2562703834793486,
+                0.4614086528323699
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648829981477164,
+                    -0.259365436709851,
+                    0.04159771779536059
+                ],
+                [
+                    -0.17395710945445264,
+                    -0.512263676714537,
+                    0.8410260695062647
+                ],
+                [
+                    -0.19682409394107667,
+                    -0.8187279742131774,
+                    -0.5393929738929324
+                ]
+            ],
+            "translation_vector": [
+                0.6311323855401767,
+                -0.2562790447007238,
+                0.4614019017199556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649073232307875,
+                    -0.2592711515598912,
+                    0.041621239102225614
+                ],
+                [
+                    -0.17392370394122092,
+                    -0.512264649551563,
+                    0.8410323858372999
+                ],
+                [
+                    -0.19673434571259604,
+                    -0.818757228235954,
+                    -0.5393813107889581
+                ]
+            ],
+            "translation_vector": [
+                0.6311350652091162,
+                -0.25626626072504755,
+                0.46141495444708336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649012880723116,
+                    -0.259302813789812,
+                    0.041563866964945295
+                ],
+                [
+                    -0.17388449094405,
+                    -0.5122339174016253,
+                    0.8410592117517727
+                ],
+                [
+                    -0.19679859777326206,
+                    -0.8187664286132345,
+                    -0.5393439044713556
+                ]
+            ],
+            "translation_vector": [
+                0.6311206531022838,
+                -0.25626715668518646,
+                0.46140561799146146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964900154350749,
+                    -0.2593045909879404,
+                    0.04157909602766823
+                ],
+                [
+                    -0.1739037294834241,
+                    -0.512254485926113,
+                    0.8410427067160918
+                ],
+                [
+                    -0.19678715660748072,
+                    -0.8187529973936896,
+                    -0.5393684679819467
+                ]
+            ],
+            "translation_vector": [
+                0.6311237486385047,
+                -0.25626596798800494,
+                0.46140398951260336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649103347930352,
+                    -0.2592923445459226,
+                    0.04141890714965356
+                ],
+                [
+                    -0.17377173506869545,
+                    -0.5123154805023696,
+                    0.84103283677205
+                ],
+                [
+                    -0.19685382876847518,
+                    -0.8187187114616993,
+                    -0.5393961824129712
+                ]
+            ],
+            "translation_vector": [
+                0.6310899721337343,
+                -0.2562745488688279,
+                0.4613926274557391
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648866103241942,
+                    -0.2593526516875318,
+                    0.041593644703634663
+                ],
+                [
+                    -0.17394753735689125,
+                    -0.512269167339561,
+                    0.8410247050121094
+                ],
+                [
+                    -0.19681484564066626,
+                    -0.8187285888839344,
+                    -0.5393954155158922
+                ]
+            ],
+            "translation_vector": [
+                0.6311293370645429,
+                -0.25628421230786597,
+                0.46139724215676575
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964901910511013,
+                    -0.25931561692377064,
+                    0.041469433461784576
+                ],
+                [
+                    -0.1738108860663283,
+                    -0.5122395646616306,
+                    0.8410709864690977
+                ],
+                [
+                    -0.19686055718968942,
+                    -0.818758840694076,
+                    -0.539332811729694
+                ]
+            ],
+            "translation_vector": [
+                0.631108691895147,
+                -0.25626647886080356,
+                0.46140036731198736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648781594018802,
+                    -0.25937207655819366,
+                    0.041668494226818904
+                ],
+                [
+                    -0.17402348922943375,
+                    -0.5122673208779764,
+                    0.8410101171549088
+                ],
+                [
+                    -0.19678913259032657,
+                    -0.8187235906350756,
+                    -0.5394123834618149
+                ]
+            ],
+            "translation_vector": [
+                0.6311424412592656,
+                -0.256281187957309,
+                0.4613961743484572
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649200707327036,
+                    -0.25925688603907887,
+                    0.04141405725734205
+                ],
+                [
+                    -0.17373569094637745,
+                    -0.5122678313429238,
+                    0.8410693066939268
+                ],
+                [
+                    -0.19683792009818413,
+                    -0.8187597547587071,
+                    -0.5393396862821083
+                ]
+            ],
+            "translation_vector": [
+                0.631087602795239,
+                -0.2562607258292202,
+                0.46140530928746476
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648786087069278,
+                    -0.2593670175457313,
+                    0.04168957506638682
+                ],
+                [
+                    -0.17403273495294772,
+                    -0.5122414262337704,
+                    0.8410239761236239
+                ],
+                [
+                    -0.1967787529805508,
+                    -0.8187413947391602,
+                    -0.5393891460865656
+                ]
+            ],
+            "translation_vector": [
+                0.631152406184423,
+                -0.25626909179864726,
+                0.46139573877205703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648967267956415,
+                    -0.25931306007177113,
+                    0.04160581083540463
+                ],
+                [
+                    -0.1739364553904611,
+                    -0.512273530998399,
+                    0.8410243390798121
+                ],
+                [
+                    -0.19677503933492066,
+                    -0.8187383991939347,
+                    -0.5393950477897383
+                ]
+            ],
+            "translation_vector": [
+                0.6311289647268042,
+                -0.2562779518162403,
+                0.46140793579705736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648930078582764,
+                    -0.25932683683387686,
+                    0.041606190452196684
+                ],
+                [
+                    -0.17394501197941697,
+                    -0.5122748397454159,
+                    0.8410217722338046
+                ],
+                [
+                    -0.19678571135549738,
+                    -0.8187332167815989,
+                    -0.5393990207117237
+                ]
+            ],
+            "translation_vector": [
+                0.6311311532523473,
+                -0.25627637358172084,
+                0.4614037451249276
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648885267150328,
+                    -0.25934154151175576,
+                    0.0416184557618321
+                ],
+                [
+                    -0.17396154334111724,
+                    -0.5122640082661358,
+                    0.8410249504464709
+                ],
+                [
+                    -0.1967930701322329,
+                    -0.8187353361626811,
+                    -0.5393931190388986
+                ]
+            ],
+            "translation_vector": [
+                0.6311294596082204,
+                -0.2562810063380241,
+                0.4614015106234755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648965884615959,
+                    -0.2593231431965656,
+                    0.041546130720288635
+                ],
+                [
+                    -0.17389027157278913,
+                    -0.5122737176032234,
+                    0.8410337756031648
+                ],
+                [
+                    -0.196816531387776,
+                    -0.8187350888142187,
+                    -0.5393849342694493
+                ]
+            ],
+            "translation_vector": [
+                0.6311228038821279,
+                -0.2562715214284385,
+                0.4613949798299084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648961798631411,
+                    -0.259317924238932,
+                    0.04158817444813866
+                ],
+                [
+                    -0.17391138157712152,
+                    -0.5122215473682301,
+                    0.8410611855088982
+                ],
+                [
+                    -0.1967998817160573,
+                    -0.8187693818042465,
+                    -0.5393389527712961
+                ]
+            ],
+            "translation_vector": [
+                0.6311270301235156,
+                -0.2562703834799964,
+                0.4614096023174368
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964874305980022,
+                    -0.2593846118583033,
+                    0.04167969278544101
+                ],
+                [
+                    -0.1740293897363314,
+                    -0.5122213121715702,
+                    0.8410369188479393
+                ],
+                [
+                    -0.1968028078244095,
+                    -0.8187484048768294,
+                    -0.5393697287984156
+                ]
+            ],
+            "translation_vector": [
+                0.6311523460564905,
+                -0.2562801631581438,
+                0.46139735044478286
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964921792883081,
+                    -0.2592398168471104,
+                    0.04148073022955327
+                ],
+                [
+                    -0.17379431349499352,
+                    -0.5123107215754311,
+                    0.8410310702677191
+                ],
+                [
+                    -0.19677771778355455,
+                    -0.8187383232266202,
+                    -0.5393941859753012
+                ]
+            ],
+            "translation_vector": [
+                0.631094106566434,
+                -0.2562630369383498,
+                0.46140967714610226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648826839705048,
+                    -0.2593586969271118,
+                    0.041646998717142815
+                ],
+                [
+                    -0.1739890265736402,
+                    -0.5122338578034505,
+                    0.8410376290938186
+                ],
+                [
+                    -0.19679742072962284,
+                    -0.818748765646743,
+                    -0.5393711467497152
+                ]
+            ],
+            "translation_vector": [
+                0.6311400382791269,
+                -0.2562794778077594,
+                0.4614068256343305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648999235875201,
+                    -0.25932189326676264,
+                    0.041476416592320875
+                ],
+                [
+                    -0.17383719773971076,
+                    -0.5123086926672203,
+                    0.8410234432520941
+                ],
+                [
+                    -0.19684706282493178,
+                    -0.8187136001619527,
+                    -0.5394064096458736
+                ]
+            ],
+            "translation_vector": [
+                0.6311043570731447,
+                -0.2562734250162053,
+                0.4613863011990616
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649073252359349,
+                    -0.25928407638164225,
+                    0.04154059991083941
+                ],
+                [
+                    -0.17386759199163979,
+                    -0.5122927492551693,
+                    0.8410268720532114
+                ],
+                [
+                    -0.19678392759842553,
+                    -0.8187355536407948,
+                    -0.5393961244238215
+                ]
+            ],
+            "translation_vector": [
+                0.631110313779407,
+                -0.2562748378301935,
+                0.46140324316070114
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648771287954219,
+                    -0.2593775022499546,
+                    0.04165858439838922
+                ],
+                [
+                    -0.17401448214283294,
+                    -0.5122528216878929,
+                    0.8410208122736045
+                ],
+                [
+                    -0.19680215022215733,
+                    -0.8187309435946382,
+                    -0.5393964735410947
+                ]
+            ],
+            "translation_vector": [
+                0.6311441933882003,
+                -0.2562871501268571,
+                0.4613986761437744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648859740782267,
+                    -0.259357266249944,
+                    0.041579628070332574
+                ],
+                [
+                    -0.17393927194950518,
+                    -0.5122745833261327,
+                    0.841023115587029
+                ],
+                [
+                    -0.19682526946707735,
+                    -0.8187237383399805,
+                    -0.5393989743944825
+                ]
+            ],
+            "translation_vector": [
+                0.6311274613291192,
+                -0.2562818960231876,
+                0.4613944731992595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649237442440357,
+                    -0.2592406774518313,
+                    0.041429928172596636
+                ],
+                [
+                    -0.1737531243723118,
+                    -0.5123215222470221,
+                    0.8410330015007461
+                ],
+                [
+                    -0.19680452120043085,
+                    -0.8187312923034088,
+                    -0.5393950791750509
+                ]
+            ],
+            "translation_vector": [
+                0.6310817442306524,
+                -0.25626691245202304,
+                0.4614010512875729
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648765766322493,
+                    -0.25937324902628134,
+                    0.041697836346535296
+                ],
+                [
+                    -0.1740408079113978,
+                    -0.5122301664097307,
+                    0.8410291634666469
+                ],
+                [
+                    -0.19678157700348822,
+                    -0.8187464652194906,
+                    -0.5393804192243264
+                ]
+            ],
+            "translation_vector": [
+                0.631153315122775,
+                -0.2562820346924311,
+                0.46140094209911203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648976703100219,
+                    -0.25932744175752803,
+                    0.04149414153574882
+                ],
+                [
+                    -0.1738559390913245,
+                    -0.5123091323081427,
+                    0.8410193014410267
+                ],
+                [
+                    -0.196841556265354,
+                    -0.8187115675896943,
+                    -0.5394115041615812
+                ]
+            ],
+            "translation_vector": [
+                0.631107356150018,
+                -0.2562805643940912,
+                0.4613917319002271
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649132458899251,
+                    -0.2592722929397453,
+                    0.041476571940504615
+                ],
+                [
+                    -0.17379631450083072,
+                    -0.5122565438260228,
+                    0.8410636565524314
+                ],
+                [
+                    -0.196817857350641,
+                    -0.8187619381854441,
+                    -0.5393436933966298
+                ]
+            ],
+            "translation_vector": [
+                0.6311071600816922,
+                -0.2562534409018027,
+                0.46138731097977287
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649079808578843,
+                    -0.25927406091397665,
+                    0.04158785656819355
+                ],
+                [
+                    -0.1738838808774679,
+                    -0.5122130638569242,
+                    0.8410720380474512
+                ],
+                [
+                    -0.19676631939372055,
+                    -0.8187885798858447,
+                    -0.5393220531377985
+                ]
+            ],
+            "translation_vector": [
+                0.6311208443966767,
+                -0.25626871427745845,
+                0.4614191050115461
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648781978703774,
+                    -0.25940438052129666,
+                    0.04146601790352058
+                ],
+                [
+                    -0.17386618193003175,
+                    -0.512269932841257,
+                    0.8410410612377299
+                ],
+                [
+                    -0.19692794127671642,
+                    -0.8187117217147779,
+                    -0.5393797388402144
+                ]
+            ],
+            "translation_vector": [
+                0.6311153305404584,
+                -0.25626538026904333,
+                0.4613740259186241
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648843308049431,
+                    -0.259375899790939,
+                    0.04150145509181954
+                ],
+                [
+                    -0.17387077221510325,
+                    -0.51222858488131,
+                    0.8410652955626065
+                ],
+                [
+                    -0.1968938362072851,
+                    -0.8187466149170521,
+                    -0.5393392233330033
+                ]
+            ],
+            "translation_vector": [
+                0.6311202842190893,
+                -0.2562596133403048,
+                0.46139611181938545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648929162963159,
+                    -0.2593314294540706,
+                    0.04157967987490099
+                ],
+                [
+                    -0.17391160715554865,
+                    -0.5122210295271769,
+                    0.8410614542390427
+                ],
+                [
+                    -0.19681568275359804,
+                    -0.8187654283171875,
+                    -0.5393391886510822
+                ]
+            ],
+            "translation_vector": [
+                0.6311303065577707,
+                -0.2562577306963758,
+                0.4613948061200221
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649111837885893,
+                    -0.2592860223080026,
+                    0.04143870214421928
+                ],
+                [
+                    -0.17377358272278765,
+                    -0.5122665024253209,
+                    0.8410622880860936
+                ],
+                [
+                    -0.19684803617864666,
+                    -0.8187513597720757,
+                    -0.5393487383168589
+                ]
+            ],
+            "translation_vector": [
+                0.6310958037031772,
+                -0.25626534252125655,
+                0.4614088147337363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649008340870638,
+                    -0.25930873731272686,
+                    0.04153744252320229
+                ],
+                [
+                    -0.17387172880547286,
+                    -0.5122624954780457,
+                    0.8410444445145581
+                ],
+                [
+                    -0.19681209896824214,
+                    -0.8187466729580554,
+                    -0.5393689676092149
+                ]
+            ],
+            "translation_vector": [
+                0.6311132796279414,
+                -0.2562743315757087,
+                0.46140823271752696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649010203991023,
+                    -0.25930676770422934,
+                    0.04154540956058195
+                ],
+                [
+                    -0.17387262199476594,
+                    -0.5122420266359605,
+                    0.8410567266650625
+                ],
+                [
+                    -0.19681039645668325,
+                    -0.8187601030647922,
+                    -0.5393492017940643
+                ]
+            ],
+            "translation_vector": [
+                0.6311211552823569,
+                -0.2562599216813227,
+                0.4614059554779745
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964868656265421,
+                    -0.2594101448042601,
+                    0.04165156574720952
+                ],
+                [
+                    -0.1740290982688695,
+                    -0.5122610931575202,
+                    0.8410127498396126
+                ],
+                [
+                    -0.19683076261673496,
+                    -0.818715426268307,
+                    -0.5394095861940343
+                ]
+            ],
+            "translation_vector": [
+                0.631145740038116,
+                -0.2562761631993379,
+                0.4613847660984748
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964912497899689,
+                    -0.25928057477403016,
+                    0.04144218794696139
+                ],
+                [
+                    -0.1737776610569947,
+                    -0.5122838385570571,
+                    0.8410508862552893
+                ],
+                [
+                    -0.19683799408280647,
+                    -0.8187422380078458,
+                    -0.5393662501374751
+                ]
+            ],
+            "translation_vector": [
+                0.6310932576126445,
+                -0.25626193576773365,
+                0.46140002400061947
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648928354524469,
+                    -0.25933391652734844,
+                    0.04156604180245584
+                ],
+                [
+                    -0.17390778409981994,
+                    -0.5122486374597588,
+                    0.8410454304317402
+                ],
+                [
+                    -0.19681945717338917,
+                    -0.8187473683372711,
+                    -0.539365227020398
+                ]
+            ],
+            "translation_vector": [
+                0.6311214865598654,
+                -0.25628364100088313,
+                0.4614070270892937
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649208036272918,
+                    -0.2592573879099239,
+                    0.04139383458179011
+                ],
+                [
+                    -0.17371920733861312,
+                    -0.5122713887533117,
+                    0.8410705447620892
+                ],
+                [
+                    -0.19684887535595752,
+                    -0.8187573700913335,
+                    -0.5393393080355057
+                ]
+            ],
+            "translation_vector": [
+                0.6310863995888815,
+                -0.2562473408163641,
+                0.461394386139496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648621462338497,
+                    -0.2594266861108796,
+                    0.041699320120795864
+                ],
+                [
+                    -0.17406041074337372,
+                    -0.5121786849753852,
+                    0.8410564595012238
+                ],
+                [
+                    -0.19683498717671452,
+                    -0.8187617414061387,
+                    -0.5393377407828328
+                ]
+            ],
+            "translation_vector": [
+                0.6311619516171315,
+                -0.2562828850904643,
+                0.4614049001256173
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649187183405327,
+                    -0.2592717238284832,
+                    0.04135263255308343
+                ],
+                [
+                    -0.17368884721893407,
+                    -0.5122602532617591,
+                    0.8410835970817383
+                ],
+                [
+                    -0.19688588407456076,
+                    -0.8187597975909694,
+                    -0.5393221138623683
+                ]
+            ],
+            "translation_vector": [
+                0.631076338192842,
+                -0.25625653602923504,
+                0.46140591010945187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648770693273939,
+                    -0.2593672588479959,
+                    0.04172368780268443
+                ],
+                [
+                    -0.17406213158281125,
+                    -0.5122394464748423,
+                    0.8410190983705393
+                ],
+                [
+                    -0.19676029943824364,
+                    -0.8187425569205644,
+                    -0.5393941138464053
+                ]
+            ],
+            "translation_vector": [
+                0.6311545576769598,
+                -0.25628542127867726,
+                0.4614072532735206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.964916401435929,
+                    -0.25926571070638893,
+                    0.04144429383942076
+                ],
+                [
+                    -0.17376003686946281,
+                    -0.5122383945476032,
+                    0.8410822056959814
+                ],
+                [
+                    -0.1968344172828018,
+                    -0.8187753772575268,
+                    -0.5393172477955205
+                ]
+            ],
+            "translation_vector": [
+                0.6310934697042503,
+                -0.2562720581179991,
+                0.4614132448232655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648965065134103,
+                    -0.2593174443934939,
+                    0.041583587524930236
+                ],
+                [
+                    -0.17391025746411187,
+                    -0.5122346510730155,
+                    0.8410534374157641
+                ],
+                [
+                    -0.19679927354282245,
+                    -0.818761335966308,
+                    -0.5393513888548763
+                ]
+            ],
+            "translation_vector": [
+                0.6311228158278402,
+                -0.2562785587312022,
+                0.4614144569335934
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648917035062765,
+                    -0.25933187590358,
+                    0.041605031487629125
+                ],
+                [
+                    -0.173938383664416,
+                    -0.5122394272777236,
+                    0.8410447121469825
+                ],
+                [
+                    -0.19679796541876854,
+                    -0.8187537769577129,
+                    -0.5393633409164117
+                ]
+            ],
+            "translation_vector": [
+                0.631125621511595,
+                -0.2562811629499966,
+                0.4614098735892674
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648988240432053,
+                    -0.25931334172475695,
+                    0.04155538669750651
+                ],
+                [
+                    -0.17387733752989418,
+                    -0.5122097615988804,
+                    0.8410754018614108
+                ],
+                [
+                    -0.1968169983856962,
+                    -0.8187782061867291,
+                    -0.5393193100752905
+                ]
+            ],
+            "translation_vector": [
+                0.6311199643098304,
+                -0.25627720162076173,
+                0.46141333766210646
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648863285223389,
+                    -0.25934809916635576,
+                    0.04162855377597555
+                ],
+                [
+                    -0.17396617289601418,
+                    -0.5122309839442983,
+                    0.8410441069143583
+                ],
+                [
+                    -0.19679975538245806,
+                    -0.8187539206295469,
+                    -0.5393624697132261
+                ]
+            ],
+            "translation_vector": [
+                0.6311345070903734,
+                -0.2562881564965858,
+                0.46141082908550185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649164529557124,
+                    -0.2592539284531843,
+                    0.04151673634761893
+                ],
+                [
+                    -0.17381421553591272,
+                    -0.5122292344627944,
+                    0.8410765897582068
+                ],
+                [
+                    -0.1967863239480878,
+                    -0.8187848386134484,
+                    -0.5393204342167535
+                ]
+            ],
+            "translation_vector": [
+                0.6311050048298547,
+                -0.25626856591168895,
+                0.4614177643190363
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649083164031,
+                    -0.259276374447532,
+                    0.04156564193511397
+                ],
+                [
+                    -0.1738695236020573,
+                    -0.512228368042141,
+                    0.8410656857435562
+                ],
+                [
+                    -0.1967773607367693,
+                    -0.8187782731767057,
+                    -0.5393336719279108
+                ]
+            ],
+            "translation_vector": [
+                0.6311197690331635,
+                -0.2562705011343939,
+                0.4614190038079613
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648931903696315,
+                    -0.25932681218126963,
+                    0.041602111271124884
+                ],
+                [
+                    -0.1739345414867932,
+                    -0.5122461290749317,
+                    0.841041424975921
+                ],
+                [
+                    -0.19679407119141976,
+                    -0.818751187926863,
+                    -0.5393686919095856
+                ]
+            ],
+            "translation_vector": [
+                0.6311307800554461,
+                -0.25627022655798193,
+                0.4614016378189798
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649072826572247,
+                    -0.25927674323811256,
+                    0.04158733329860106
+                ],
+                [
+                    -0.17388604189533702,
+                    -0.5122175457660477,
+                    0.8410688617725545
+                ],
+                [
+                    -0.19676783352220992,
+                    -0.8187849267208361,
+                    -0.5393270468516587
+                ]
+            ],
+            "translation_vector": [
+                0.6311205387636948,
+                -0.25627513001693064,
+                0.4614220904553088
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648970707668749,
+                    -0.25930896836941353,
+                    0.04162333178272675
+                ],
+                [
+                    -0.1739412158119096,
+                    -0.51223957029113,
+                    0.8410440393165112
+                ],
+                [
+                    -0.19676914460193987,
+                    -0.818760942858872,
+                    -0.5393629781339018
+                ]
+            ],
+            "translation_vector": [
+                0.6311286555332014,
+                -0.2562783802786049,
+                0.4614173298955746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648932805815693,
+                    -0.2593336705208524,
+                    0.041557242722769804
+                ],
+                [
+                    -0.17389277986343687,
+                    -0.5122187150425471,
+                    0.8410667566082544
+                ],
+                [
+                    -0.1968305316761185,
+                    -0.8187661664323609,
+                    -0.539332649211739
+                ]
+            ],
+            "translation_vector": [
+                0.6311211518600639,
+                -0.256268801123657,
+                0.46141039647238574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649051237670486,
+                    -0.2592896012164365,
+                    0.04155724761239773
+                ],
+                [
+                    -0.17386637090667573,
+                    -0.5122140968366881,
+                    0.8410750287991664
+                ],
+                [
+                    -0.1967958007576358,
+                    -0.8187830125880712,
+                    -0.5393197484807725
+                ]
+            ],
+            "translation_vector": [
+                0.6311173443578557,
+                -0.2562709464874347,
+                0.4614177131387716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649019095048752,
+                    -0.25929346285307747,
+                    0.04160775355033505
+                ],
+                [
+                    -0.1739103113750304,
+                    -0.512204522787782,
+                    0.8410717748404001
+                ],
+                [
+                    -0.1967727334548302,
+                    -0.8187877789497108,
+                    -0.5393209289572527
+                ]
+            ],
+            "translation_vector": [
+                0.6311313662148806,
+                -0.2562684828209374,
+                0.4614183869386047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648975384681798,
+                    -0.2593129768188365,
+                    0.041587501865353926
+                ],
+                [
+                    -0.17391705371249694,
+                    -0.5122594043914409,
+                    0.8410369558113904
+                ],
+                [
+                    -0.19678820769042984,
+                    -0.8187472642188672,
+                    -0.5393767872722264
+                ]
+            ],
+            "translation_vector": [
+                0.6311183392357305,
+                -0.25628114067850194,
+                0.46141277599492697
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648795751662098,
+                    -0.25937979161907215,
+                    0.041587607850433424
+                ],
+                [
+                    -0.17394300008311608,
+                    -0.5122073580991655,
+                    0.8410632883625095
+                ],
+                [
+                    -0.19685334172718474,
+                    -0.8187586616388982,
+                    -0.5393357171948843
+                ]
+            ],
+            "translation_vector": [
+                0.6311355203199976,
+                -0.256277731545797,
+                0.4614044846269743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648964784847145,
+                    -0.259318295092152,
+                    0.04157893262574787
+                ],
+                [
+                    -0.173899787065854,
+                    -0.5122059391436657,
+                    0.8410730883605814
+                ],
+                [
+                    -0.19680866308739442,
+                    -0.8187790286374311,
+                    -0.5393211032374846
+                ]
+            ],
+            "translation_vector": [
+                0.6311225140539604,
+                -0.25627241230677184,
+                0.4614119148715615
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649000460443948,
+                    -0.2593040458494377,
+                    0.041585008712725795
+                ],
+                [
+                    -0.17390102324530218,
+                    -0.5122230857137942,
+                    0.8410623904182589
+                ],
+                [
+                    -0.19679007916498636,
+                    -0.8187728148075946,
+                    -0.539337317895106
+                ]
+            ],
+            "translation_vector": [
+                0.6311214972059683,
+                -0.2562717895223405,
+                0.4614081245634484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648939731991336,
+                    -0.25932507922618053,
+                    0.04159475650037268
+                ],
+                [
+                    -0.1739164950165851,
+                    -0.5122018600733377,
+                    0.8410721177750214
+                ],
+                [
+                    -0.19680618192815033,
+                    -0.8187794317285632,
+                    -0.5393213966950647
+                ]
+            ],
+            "translation_vector": [
+                0.6311262878524149,
+                -0.2562731452887305,
+                0.4614118410060047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9648962461814298,
+                    -0.2593193186391132,
+                    0.0415779398904229
+                ],
+                [
+                    -0.17390293979977953,
+                    -0.512220210461009,
+                    0.8410637452204641
+                ],
+                [
+                    -0.19680701622142396,
+                    -0.8187697765402834,
+                    -0.5393357501503071
+                ]
+            ],
+            "translation_vector": [
+                0.6311224893225728,
+                -0.2562719670019535,
+                0.4614079133971013
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651723381171263,
+                    -0.2581912979358276,
+                    0.0421854406606399
+                ],
+                [
+                    -0.17383874329926838,
+                    -0.5124453395163966,
+                    0.8409398702261989
+                ],
+                [
+                    -0.1955056241176984,
+                    -0.8189853647521046,
+                    -0.5394817172622364
+                ]
+            ],
+            "translation_vector": [
+                0.6310612359045208,
+                -0.256282698893567,
+                0.46142310777824574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651100771584395,
+                    -0.2574542306169197,
+                    0.04774785968691058
+                ],
+                [
+                    -0.17836211621743564,
+                    -0.5128834762256657,
+                    0.8397246544630658
+                ],
+                [
+                    -0.19170157658628925,
+                    -0.8189431353593039,
+                    -0.5409090927154063
+                ]
+            ],
+            "translation_vector": [
+                0.6318068779559254,
+                -0.25706908301079023,
+                0.4610775856512156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9628430490163717,
+                    -0.2644648544609687,
+                    0.05469555480837243
+                ],
+                [
+                    -0.18794713462352486,
+                    -0.5107595401184132,
+                    0.8389282250376571
+                ],
+                [
+                    -0.19393075451733696,
+                    -0.818036082904028,
+                    -0.5414866845263794
+                ]
+            ],
+            "translation_vector": [
+                0.633643737282508,
+                -0.2587563363771691,
+                0.46042131804132524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.960312374089741,
+                    -0.27218290362318076,
+                    0.06096401516780402
+                ],
+                [
+                    -0.19703072768416588,
+                    -0.5072460999914358,
+                    0.8389757364737832
+                ],
+                [
+                    -0.19743109308914344,
+                    -0.8176905655678883,
+                    -0.5407431020946023
+                ]
+            ],
+            "translation_vector": [
+                0.6353107452190047,
+                -0.26093826359132716,
+                0.4599814015877074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9567470530556594,
+                    -0.2807486227681571,
+                    0.07625803094162846
+                ],
+                [
+                    -0.21411188415164498,
+                    -0.502064056793182,
+                    0.8379067871436567
+                ],
+                [
+                    -0.19695476012105897,
+                    -0.8179926000216358,
+                    -0.5404599233759155
+                ]
+            ],
+            "translation_vector": [
+                0.6379756932017722,
+                -0.2662633895523012,
+                0.4602614870818609
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9530934373555047,
+                    -0.2879330183679302,
+                    0.0933138607249867
+                ],
+                [
+                    -0.2326494921606699,
+                    -0.4996924269764115,
+                    0.8343750309182355
+                ],
+                [
+                    -0.19361589156691517,
+                    -0.816946788570686,
+                    -0.5432410433470501
+                ]
+            ],
+            "translation_vector": [
+                0.6406118753227716,
+                -0.27232685996180317,
+                0.4604097764281593
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9496340989974754,
+                    -0.2940355110003623,
+                    0.10834295681773336
+                ],
+                [
+                    -0.24884521404298687,
+                    -0.4974810735148884,
+                    0.8310166309661767
+                ],
+                [
+                    -0.19044982927047607,
+                    -0.8161223558788416,
+                    -0.5455943206867321
+                ]
+            ],
+            "translation_vector": [
+                0.6425578554575555,
+                -0.2782005043689281,
+                0.4607656222757422
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9446931536519595,
+                    -0.30368663896343456,
+                    0.12381143225973971
+                ],
+                [
+                    -0.26749755854415325,
+                    -0.49510575831472636,
+                    0.8266289035936967
+                ],
+                [
+                    -0.1897364003454079,
+                    -0.8140299216851259,
+                    -0.548958454698782
+                ]
+            ],
+            "translation_vector": [
+                0.6444936132140431,
+                -0.28580030229300357,
+                0.46033086111314087
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9386015346108786,
+                    -0.3159712690679487,
+                    0.13852550793877044
+                ],
+                [
+                    -0.2869120422818481,
+                    -0.49189640904624504,
+                    0.8220215342441272
+                ],
+                [
+                    -0.19159498745991077,
+                    -0.8112953099155693,
+                    -0.5523506865110582
+                ]
+            ],
+            "translation_vector": [
+                0.6465127325033162,
+                -0.29343302326008897,
+                0.45955517662755685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.93134377652472,
+                    -0.3287682755510472,
+                    0.15655730873984527
+                ],
+                [
+                    -0.30959414420974213,
+                    -0.48857159048149496,
+                    0.8157507381825773
+                ],
+                [
+                    -0.191703510139251,
+                    -0.8082135992208825,
+                    -0.5568128430942634
+                ]
+            ],
+            "translation_vector": [
+                0.6488909483081923,
+                -0.3019905923706603,
+                0.45865663212946034
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9213669524603808,
+                    -0.34480835901575735,
+                    0.1794160931096513
+                ],
+                [
+                    -0.33832844043168964,
+                    -0.4841914285105397,
+                    0.8069030468104478
+                ],
+                [
+                    -0.19135518103498333,
+                    -0.8041553681408734,
+                    -0.5627764552478055
+                ]
+            ],
+            "translation_vector": [
+                0.6515111632367725,
+                -0.31319718216230286,
+                0.4573866331480976
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9137924472516231,
+                    -0.3564824855416895,
+                    0.1946884712763158
+                ],
+                [
+                    -0.35836333027255907,
+                    -0.48193913895835233,
+                    0.7995688774933919
+                ],
+                [
+                    -0.19120430659859736,
+                    -0.8004092102431738,
+                    -0.5681425959176521
+                ]
+            ],
+            "translation_vector": [
+                0.6529592919314603,
+                -0.3214277841585434,
+                0.4561280383255809
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.906351986328851,
+                    -0.3668719671224114,
+                    0.20959732015815263
+                ],
+                [
+                    -0.377475409566273,
+                    -0.48019198982383104,
+                    0.7917878302183007
+                ],
+                [
+                    -0.18983780458728783,
+                    -0.7967563069400596,
+                    -0.5737081098439488
+                ]
+            ],
+            "translation_vector": [
+                0.6539810756157027,
+                -0.3297609854991374,
+                0.45518574538671974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8960270792639318,
+                    -0.3817410593909721,
+                    0.22673605095089308
+                ],
+                [
+                    -0.40076239219167537,
+                    -0.47555229109215225,
+                    0.783096113795625
+                ],
+                [
+                    -0.19111509158241102,
+                    -0.7925426058024031,
+                    -0.5790951905838827
+                ]
+            ],
+            "translation_vector": [
+                0.6555448557592857,
+                -0.33958452610695317,
+                0.45408724599319394
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8885467107433527,
+                    -0.39125756848568227,
+                    0.23958768317641113
+                ],
+                [
+                    -0.4173629691929509,
+                    -0.4724968623662413,
+                    0.7762440769503502
+                ],
+                [
+                    -0.1905069415365553,
+                    -0.7897241481408107,
+                    -0.583131953394477
+                ]
+            ],
+            "translation_vector": [
+                0.6563373849780052,
+                -0.3470855277781545,
+                0.4534067937723098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8810078413153872,
+                    -0.3996833478753135,
+                    0.25313712681466277
+                ],
+                [
+                    -0.4343849566658334,
+                    -0.47138863217265464,
+                    0.7675301081265905
+                ],
+                [
+                    -0.18744303924985747,
+                    -0.7861590035670742,
+                    -0.5889135149979168
+                ]
+            ],
+            "translation_vector": [
+                0.6570451785283955,
+                -0.35453538109839905,
+                0.45257667814118935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8697768196624862,
+                    -0.41097893303803573,
+                    0.27310181357275654
+                ],
+                [
+                    -0.4592229337027353,
+                    -0.4716532411458907,
+                    0.7527665755584727
+                ],
+                [
+                    -0.18056184851530543,
+                    -0.7801535340658878,
+                    -0.5989640073871233
+                ]
+            ],
+            "translation_vector": [
+                0.6578808989074796,
+                -0.3650653291133533,
+                0.4515156230177281
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8620022561256926,
+                    -0.4195715803398727,
+                    0.2844499945602349
+                ],
+                [
+                    -0.4747817960149549,
+                    -0.47169382995523473,
+                    0.7430256906426426
+                ],
+                [
+                    -0.177579155891196,
+                    -0.7755415009870614,
+                    -0.6058060940925788
+                ]
+            ],
+            "translation_vector": [
+                0.6583105804260443,
+                -0.3716074139908452,
+                0.45037627152197696
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8515796292561667,
+                    -0.43219868430591923,
+                    0.2966756348609743
+                ],
+                [
+                    -0.4934773204236115,
+                    -0.4699367424195343,
+                    0.7318740276520602
+                ],
+                [
+                    -0.17689621042708095,
+                    -0.7696517104563264,
+                    -0.6134688055053732
+                ]
+            ],
+            "translation_vector": [
+                0.6588020462848571,
+                -0.3795960916237911,
+                0.4482641545415863
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8408590166725005,
+                    -0.4455906609264569,
+                    0.3072540918778451
+                ],
+                [
+                    -0.5111184838031848,
+                    -0.4669238659731173,
+                    0.7216231695971604
+                ],
+                [
+                    -0.1780842766649807,
+                    -0.7638265943784898,
+                    -0.6203667658126675
+                ]
+            ],
+            "translation_vector": [
+                0.6594818550734969,
+                -0.3867970871194144,
+                0.44554867197656206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8345101841383529,
+                    -0.45303688936044284,
+                    0.3136085608652708
+                ],
+                [
+                    -0.5214892702357937,
+                    -0.46566073250523904,
+                    0.7149888273474094
+                ],
+                [
+                    -0.17788112209650522,
+                    -0.7602089575118792,
+                    -0.6248525004514187
+                ]
+            ],
+            "translation_vector": [
+                0.659877254439695,
+                -0.39097447714552097,
+                0.4437470651631655
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.824079863988428,
+                    -0.4653120512171303,
+                    0.32307440746818866
+                ],
+                [
+                    -0.5373263425340545,
+                    -0.46149731878064876,
+                    0.7059041198188665
+                ],
+                [
+                    -0.1793677211423238,
+                    -0.7553177607804409,
+                    -0.6303350703093004
+                ]
+            ],
+            "translation_vector": [
+                0.6607976222097685,
+                -0.3972164924923143,
+                0.44118087034410064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8126113136119626,
+                    -0.47818365016881037,
+                    0.3331715019341745
+                ],
+                [
+                    -0.5544628754070833,
+                    -0.45820416466069364,
+                    0.6947084735937122
+                ],
+                [
+                    -0.17953766397374674,
+                    -0.7492591942704668,
+                    -0.6374769697926516
+                ]
+            ],
+            "translation_vector": [
+                0.661851184499322,
+                -0.4037013102244707,
+                0.4384302738291895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.805746041470602,
+                    -0.4857387465408031,
+                    0.33886750620769884
+                ],
+                [
+                    -0.5642099879436011,
+                    -0.4555292353491923,
+                    0.6885929169305054
+                ],
+                [
+                    -0.1801122043592182,
+                    -0.7460234485933736,
+                    -0.6410995304862682
+                ]
+            ],
+            "translation_vector": [
+                0.6623785618219664,
+                -0.4075875486352626,
+                0.43680797617701084
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7989956231251516,
+                    -0.49382479635332427,
+                    0.34313709320539615
+                ],
+                [
+                    -0.5730558024219289,
+                    -0.45234944688730644,
+                    0.6833644892817503
+                ],
+                [
+                    -0.18224445543667467,
+                    -0.7426419382228194,
+                    -0.6444143931161409
+                ]
+            ],
+            "translation_vector": [
+                0.6627015330324335,
+                -0.4113193036179286,
+                0.4347526086250005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7923311904827526,
+                    -0.5018444225357941,
+                    0.34693437442533653
+                ],
+                [
+                    -0.5819528495817852,
+                    -0.4509825457291669,
+                    0.6767167977162086
+                ],
+                [
+                    -0.18314520319086838,
+                    -0.7380832737688582,
+                    -0.6493773290859641
+                ]
+            ],
+            "translation_vector": [
+                0.6625263138018913,
+                -0.4152659831097311,
+                0.4317303482936953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7868595928250146,
+                    -0.5096173588409517,
+                    0.3480547783714867
+                ],
+                [
+                    -0.5887674652812444,
+                    -0.450891678739437,
+                    0.6708573364507772
+                ],
+                [
+                    -0.1849455406479185,
+                    -0.7327938602441378,
+                    -0.6548345633692101
+                ]
+            ],
+            "translation_vector": [
+                0.6621602886654403,
+                -0.41811113184980886,
+                0.42840254071917316
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7834919515865354,
+                    -0.5147869478285387,
+                    0.34804419280387316
+                ],
+                [
+                    -0.593138105722598,
+                    -0.45254702776590555,
+                    0.6658741436638406
+                ],
+                [
+                    -0.1852769530700739,
+                    -0.7281453055576355,
+                    -0.6599067090547326
+                ]
+            ],
+            "translation_vector": [
+                0.6616703946846416,
+                -0.41992383623336993,
+                0.4255192056430928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.777291364205948,
+                    -0.5266687569526106,
+                    0.3441484499178349
+                ],
+                [
+                    -0.6004271247099828,
+                    -0.4576226112279117,
+                    0.6557963202134109
+                ],
+                [
+                    -0.1878973204794556,
+                    -0.716380880637486,
+                    -0.6719323111844684
+                ]
+            ],
+            "translation_vector": [
+                0.6601215279683935,
+                -0.4224672858911905,
+                0.4173267411160599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7737054569177362,
+                    -0.5357714927545083,
+                    0.33812538131190806
+                ],
+                [
+                    -0.6036147187330214,
+                    -0.46128542898042685,
+                    0.6502807273318189
+                ],
+                [
+                    -0.19242956442442205,
+                    -0.7072232042021456,
+                    -0.6802986125029786
+                ]
+            ],
+            "translation_vector": [
+                0.6587970683476704,
+                -0.4234025252648766,
+                0.41131341722195974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7706999947314875,
+                    -0.5449489097591272,
+                    0.33023053140680964
+                ],
+                [
+                    -0.6051390718598015,
+                    -0.4636441585352671,
+                    0.6471791081028359
+                ],
+                [
+                    -0.19957009252276042,
+                    -0.6986163324804703,
+                    -0.6871004280030643
+                ]
+            ],
+            "translation_vector": [
+                0.6572754970985499,
+                -0.42378198878106277,
+                0.40503261940307966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.767579170835231,
+                    -0.5525219338877227,
+                    0.324871865622233
+                ],
+                [
+                    -0.6067696210571913,
+                    -0.4630695273299243,
+                    0.646062876058169
+                ],
+                [
+                    -0.2065256484362456,
+                    -0.6930267855078992,
+                    -0.6906960482778056
+                ]
+            ],
+            "translation_vector": [
+                0.6559460704434629,
+                -0.42419957999876134,
+                0.3998595188175964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7658400281832681,
+                    -0.5566917347678816,
+                    0.32184369447509437
+                ],
+                [
+                    -0.6079036021727462,
+                    -0.4636289419006534,
+                    0.6445939921357321
+                ],
+                [
+                    -0.20962409617610983,
+                    -0.689305822311989,
+                    -0.6934805127969653
+                ]
+            ],
+            "translation_vector": [
+                0.6548648696458238,
+                -0.4244664380523704,
+                0.3962210425364836
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7637175569190044,
+                    -0.5628062840893501,
+                    0.316203383668179
+                ],
+                [
+                    -0.6086742481060871,
+                    -0.46461239765917983,
+                    0.6431570411912461
+                ],
+                [
+                    -0.2150608122047279,
+                    -0.6836551810166631,
+                    -0.6973983370520156
+                ]
+            ],
+            "translation_vector": [
+                0.6531507951527427,
+                -0.42451440744413166,
+                0.3911027124460753
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7619720939671841,
+                    -0.5685509422763053,
+                    0.3100779805984134
+                ],
+                [
+                    -0.6088788283361555,
+                    -0.46584506347505944,
+                    0.6420708288342559
+                ],
+                [
+                    -0.22060167818775836,
+                    -0.6780399714416866,
+                    -0.7011395700629808
+                ]
+            ],
+            "translation_vector": [
+                0.6509681374332036,
+                -0.42430376487298754,
+                0.38525280357979375
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7604918945939433,
+                    -0.5743586248576698,
+                    0.3029261433229586
+                ],
+                [
+                    -0.6082798189611894,
+                    -0.4668546053166882,
+                    0.641905319606515
+                ],
+                [
+                    -0.22726139157687453,
+                    -0.6724276522765898,
+                    -0.7044099036444168
+                ]
+            ],
+            "translation_vector": [
+                0.6487800541497112,
+                -0.42366628659317485,
+                0.37976350256995317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7592431686678714,
+                    -0.5805448524446287,
+                    0.29413854750986745
+                ],
+                [
+                    -0.6071687234966687,
+                    -0.46914976928981866,
+                    0.6412835840583602
+                ],
+                [
+                    -0.2342988519788265,
+                    -0.6654819067978891,
+                    -0.7086874344067697
+                ]
+            ],
+            "translation_vector": [
+                0.6462210350776775,
+                -0.42286731941156336,
+                0.3737699326056007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7583656771858648,
+                    -0.5888437869069496,
+                    0.2795433674539743
+                ],
+                [
+                    -0.6042334520076158,
+                    -0.4741925974292536,
+                    0.640346246977569
+                ],
+                [
+                    -0.24450651349480415,
+                    -0.6545260691251193,
+                    -0.7154105043219833
+                ]
+            ],
+            "translation_vector": [
+                0.6420682781898921,
+                -0.4210462703518978,
+                0.36458836274974926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7557185374132896,
+                    -0.597366442079097,
+                    0.26840794713957156
+                ],
+                [
+                    -0.6030035991537894,
+                    -0.47481789548869147,
+                    0.6410418282228284
+                ],
+                [
+                    -0.25549197955609937,
+                    -0.646298151011939,
+                    -0.7190428001037595
+                ]
+            ],
+            "translation_vector": [
+                0.6391436306633429,
+                -0.419928946946275,
+                0.3580917817418459
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7540127657521813,
+                    -0.6032059789927878,
+                    0.26001403037162946
+                ],
+                [
+                    -0.6019799932914484,
+                    -0.47617675035543644,
+                    0.6409959361008184
+                ],
+                [
+                    -0.26283994513691034,
+                    -0.6398423628740824,
+                    -0.7221612797098286
+                ]
+            ],
+            "translation_vector": [
+                0.6363941510811534,
+                -0.41904690085838137,
+                0.35266091912175784
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7530910618034182,
+                    -0.6079528200885962,
+                    0.2514900021434719
+                ],
+                [
+                    -0.6002993657931467,
+                    -0.47852217163779964,
+                    0.6408254073297893
+                ],
+                [
+                    -0.2692480715996798,
+                    -0.6335691752266422,
+                    -0.7253244626665272
+                ]
+            ],
+            "translation_vector": [
+                0.6331589538762296,
+                -0.417770313053967,
+                0.3463859241892151
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7551559925055168,
+                    -0.6095686362603728,
+                    0.24117525716929913
+                ],
+                [
+                    -0.5965639553510254,
+                    -0.48650258775156724,
+                    0.6382998349419879
+                ],
+                [
+                    -0.27175517319629483,
+                    -0.6258924107214422,
+                    -0.7310320212154552
+                ]
+            ],
+            "translation_vector": [
+                0.6288783080458806,
+                -0.41564861837064676,
+                0.33877633010956226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7567199228584459,
+                    -0.6112377809831245,
+                    0.231869216257643
+                ],
+                [
+                    -0.5935870508701396,
+                    -0.49381188210806054,
+                    0.6354559293359258
+                ],
+                [
+                    -0.2739148980767529,
+                    -0.6184967260929688,
+                    -0.736500121129577
+                ]
+            ],
+            "translation_vector": [
+                0.6254750359178152,
+                -0.41376493784900936,
+                0.33237701732386016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7565787776975871,
+                    -0.6175809911490469,
+                    0.2149006107692254
+                ],
+                [
+                    -0.58970193868607,
+                    -0.5023874480759406,
+                    0.6323436372144774
+                ],
+                [
+                    -0.28256004078339814,
+                    -0.6051450829240085,
+                    -0.7442843891721627
+                ]
+            ],
+            "translation_vector": [
+                0.6201415190429536,
+                -0.4105359626677056,
+                0.32133537851199273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7564739567691623,
+                    -0.6200010574914012,
+                    0.20819664127826926
+                ],
+                [
+                    -0.5883723655954404,
+                    -0.5061287215568138,
+                    0.6305962865565348
+                ],
+                [
+                    -0.2855960646326091,
+                    -0.5995268183532827,
+                    -0.7476646854984906
+                ]
+            ],
+            "translation_vector": [
+                0.6176339592394711,
+                -0.4089809823261094,
+                0.3158424927811576
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.75646340119005,
+                    -0.6219457778911445,
+                    0.20235259332007793
+                ],
+                [
+                    -0.5874014911856333,
+                    -0.510002998231347,
+                    0.6283760259175482
+                ],
+                [
+                    -0.2876153869543072,
+                    -0.5942056808533693,
+                    -0.7511304800290748
+                ]
+            ],
+            "translation_vector": [
+                0.6153684768291903,
+                -0.4074522997915018,
+                0.31053883710313224
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7553813052272752,
+                    -0.6258354407274141,
+                    0.19423976122993325
+                ],
+                [
+                    -0.5870733529088479,
+                    -0.5146514368926729,
+                    0.6248830104977015
+                ],
+                [
+                    -0.2911081620592274,
+                    -0.5860579319775738,
+                    -0.7561693846941094
+                ]
+            ],
+            "translation_vector": [
+                0.6126079524974981,
+                -0.4052207259308536,
+                0.30272580472687255
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.753364866951111,
+                    -0.6300191396788196,
+                    0.18846023687264846
+                ],
+                [
+                    -0.5880363304207757,
+                    -0.5171217875012922,
+                    0.6219311304290341
+                ],
+                [
+                    -0.2943716211678749,
+                    -0.5793625294492458,
+                    -0.760055529630019
+                ]
+            ],
+            "translation_vector": [
+                0.6105617263954137,
+                -0.4034310817754632,
+                0.29586049444294027
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7521723664082339,
+                    -0.6319337430397536,
+                    0.18680598389667416
+                ],
+                [
+                    -0.5894830470268299,
+                    -0.5185544811165755,
+                    0.6193633726512116
+                ],
+                [
+                    -0.29452753433219464,
+                    -0.5759869742639029,
+                    -0.7625565795391919
+                ]
+            ],
+            "translation_vector": [
+                0.6094424709239121,
+                -0.4022480899719835,
+                0.2911195992231245
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7533901246301379,
+                    -0.6306496619937608,
+                    0.18623727859089054
+                ],
+                [
+                    -0.5899602550733424,
+                    -0.5231594999274198,
+                    0.6150211663589222
+                ],
+                [
+                    -0.290431089147809,
+                    -0.573223465554968,
+                    -0.7662014363035156
+                ]
+            ],
+            "translation_vector": [
+                0.6080396631366468,
+                -0.40039219757563627,
+                0.2853669881273385
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7588553819817229,
+                    -0.6238040850511147,
+                    0.18710150376444193
+                ],
+                [
+                    -0.5882561828538144,
+                    -0.5332720018775374,
+                    0.6079273273572952
+                ],
+                [
+                    -0.2794515567529255,
+                    -0.5713925406295272,
+                    -0.7716329386057215
+                ]
+            ],
+            "translation_vector": [
+                0.6065553671347049,
+                -0.398578874159214,
+                0.2807311359893669
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7611802721233403,
+                    -0.6207681945035435,
+                    0.1877536737937467
+                ],
+                [
+                    -0.5889242876487775,
+                    -0.5403659449443928,
+                    0.600976562739125
+                ],
+                [
+                    -0.27161144443417284,
+                    -0.5680242021579401,
+                    -0.7769013637619758
+                ]
+            ],
+            "translation_vector": [
+                0.6056397999015216,
+                -0.3972218069129935,
+                0.2760140684638418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7620340076016783,
+                    -0.6196824527416678,
+                    0.18787716471832477
+                ],
+                [
+                    -0.5897826165409255,
+                    -0.5444330875188229,
+                    0.5964470457977489
+                ],
+                [
+                    -0.26732122340859066,
+                    -0.5653196184273042,
+                    -0.7803544659554028
+                ]
+            ],
+            "translation_vector": [
+                0.6048015283463898,
+                -0.3953465377470919,
+                0.27078623964769777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7626796484863514,
+                    -0.618911972467293,
+                    0.1877970290536577
+                ],
+                [
+                    -0.5897632800442282,
+                    -0.5462894520126537,
+                    0.5947664315772943
+                ],
+                [
+                    -0.26551652923350955,
+                    -0.5643720448040987,
+                    -0.781655402173766
+                ]
+            ],
+            "translation_vector": [
+                0.6040695108937744,
+                -0.39345208818842803,
+                0.26667324968858747
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7622848592876827,
+                    -0.6191830346539191,
+                    0.1885050739304433
+                ],
+                [
+                    -0.5906398914247897,
+                    -0.5463574092310354,
+                    0.5938333941738745
+                ],
+                [
+                    -0.2647004192638747,
+                    -0.5640088217174578,
+                    -0.782194181176525
+                ]
+            ],
+            "translation_vector": [
+                0.6035637826048099,
+                -0.3915978043413968,
+                0.2626350957708764
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7598012847599593,
+                    -0.6214970636721474,
+                    0.19090156501195774
+                ],
+                [
+                    -0.5940013731908973,
+                    -0.5442062380124444,
+                    0.5924541662910912
+                ],
+                [
+                    -0.2643187021843975,
+                    -0.5635432284707557,
+                    -0.7826587080716052
+                ]
+            ],
+            "translation_vector": [
+                0.6036854592990998,
+                -0.3897790830109329,
+                0.25802724006820754
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7580783022839207,
+                    -0.6227521007274053,
+                    0.19364170172236253
+                ],
+                [
+                    -0.5961396463838352,
+                    -0.5413030460764625,
+                    0.5929658795560663
+                ],
+                [
+                    -0.26445190416346925,
+                    -0.5649520628760878,
+                    -0.7815973113031854
+                ]
+            ],
+            "translation_vector": [
+                0.6040818013371002,
+                -0.3884813841765451,
+                0.255544939478468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.75596172416654,
+                    -0.6240754608478574,
+                    0.19761500642078403
+                ],
+                [
+                    -0.598856117017094,
+                    -0.5373880074153505,
+                    0.5937890876374942
+                ],
+                [
+                    -0.26437326397796107,
+                    -0.5672247778911756,
+                    -0.7799761718411312
+                ]
+            ],
+            "translation_vector": [
+                0.6048849740878973,
+                -0.3868668470644947,
+                0.2528582978747189
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7536158946871429,
+                    -0.6246166031198871,
+                    0.20473686131683944
+                ],
+                [
+                    -0.6022966796153131,
+                    -0.5314414656001117,
+                    0.5956581892034845
+                ],
+                [
+                    -0.26325233712023544,
+                    -0.5722098109503007,
+                    -0.7767072416637784
+                ]
+            ],
+            "translation_vector": [
+                0.6059195052403832,
+                -0.384446491883058,
+                0.24934928454067412
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7537069493110983,
+                    -0.6229214250733682,
+                    0.20951069840158928
+                ],
+                [
+                    -0.603102541629805,
+                    -0.528899879176332,
+                    0.5971032089069117
+                ],
+                [
+                    -0.261138198737425,
+                    -0.5763972727137296,
+                    -0.7743210091224101
+                ]
+            ],
+            "translation_vector": [
+                0.6065658048725093,
+                -0.38266367070634294,
+                0.24767544789422638
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7570997237338795,
+                    -0.6164241997894363,
+                    0.21638210239305075
+                ],
+                [
+                    -0.602089706682907,
+                    -0.529822296960215,
+                    0.5973075579216233
+                ],
+                [
+                    -0.2535507709090524,
+                    -0.5825028236478816,
+                    -0.7722709803000954
+                ]
+            ],
+            "translation_vector": [
+                0.6071053197920652,
+                -0.38013620790270375,
+                0.24590519023780738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7590056562157969,
+                    -0.6115421971336459,
+                    0.2234425092890363
+                ],
+                [
+                    -0.60222124429656,
+                    -0.528967269799476,
+                    0.5979324379884335
+                ],
+                [
+                    -0.24746714276915857,
+                    -0.5883959284409113,
+                    -0.7697728526285059
+                ]
+            ],
+            "translation_vector": [
+                0.6078266718176485,
+                -0.3766881112312068,
+                0.24288685306340793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.761120937160627,
+                    -0.606900881660458,
+                    0.2288367078409589
+                ],
+                [
+                    -0.6017213001260011,
+                    -0.528986934882094,
+                    0.598418164579521
+                ],
+                [
+                    -0.2421288830156462,
+                    -0.5931645155973229,
+                    -0.7678082191835338
+                ]
+            ],
+            "translation_vector": [
+                0.608329179797248,
+                -0.3733673660216399,
+                0.24012391854728296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7625504867696404,
+                    -0.6033267497921269,
+                    0.2334814513246256
+                ],
+                [
+                    -0.6015295990728061,
+                    -0.5284335208871328,
+                    0.5990994537154393
+                ],
+                [
+                    -0.23807330082706513,
+                    -0.5972895838603728,
+                    -0.7658761364902351
+                ]
+            ],
+            "translation_vector": [
+                0.6089356502226025,
+                -0.3698862950713703,
+                0.23718252855734567
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7608127523368383,
+                    -0.6034041042210833,
+                    0.2388879295627896
+                ],
+                [
+                    -0.6046609976085409,
+                    -0.5254085935828925,
+                    0.5986074571539272
+                ],
+                [
+                    -0.23568842536851176,
+                    -0.5998744008527107,
+                    -0.764592485804636
+                ]
+            ],
+            "translation_vector": [
+                0.6101477464993562,
+                -0.36674815951332795,
+                0.2336033886043898
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7582953702224495,
+                    -0.6050968945401787,
+                    0.2425816969951152
+                ],
+                [
+                    -0.6074004065893929,
+                    -0.5206463513772678,
+                    0.5999934356912404
+                ],
+                [
+                    -0.23675488922984933,
+                    -0.6023164658345067,
+                    -0.7623398175422764
+                ]
+            ],
+            "translation_vector": [
+                0.6115038300434352,
+                -0.36415820795991977,
+                0.23107499168120882
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7563784366529384,
+                    -0.6061976298895723,
+                    0.24579685531495798
+                ],
+                [
+                    -0.6092322982673388,
+                    -0.5160165890080314,
+                    0.6021319511671945
+                ],
+                [
+                    -0.2381757068098119,
+                    -0.6051870069530424,
+                    -0.7596189961427141
+                ]
+            ],
+            "translation_vector": [
+                0.6128469968754613,
+                -0.3610622052584036,
+                0.2285051721623619
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7534052776641162,
+                    -0.6084945979718587,
+                    0.24922843302264358
+                ],
+                [
+                    -0.612319280533692,
+                    -0.511075141437804,
+                    0.6032141398301526
+                ],
+                [
+                    -0.23967808884951936,
+                    -0.6070720913066215,
+                    -0.7576396832809427
+                ]
+            ],
+            "translation_vector": [
+                0.6142674775740952,
+                -0.35799605930270795,
+                0.22539747092046516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7499016338512842,
+                    -0.6110402300694124,
+                    0.2535298341100982
+                ],
+                [
+                    -0.615990194432979,
+                    -0.5051871530723364,
+                    0.6044352907740319
+                ],
+                [
+                    -0.24125426402365455,
+                    -0.6094389039168628,
+                    -0.7552354616164534
+                ]
+            ],
+            "translation_vector": [
+                0.6158474221258752,
+                -0.3555432986103761,
+                0.22301804836848554
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7470956239086693,
+                    -0.6125454576213659,
+                    0.25813986728893246
+                ],
+                [
+                    -0.619278063739438,
+                    -0.5002815685503138,
+                    0.6051553783450747
+                ],
+                [
+                    -0.24154256044773756,
+                    -0.6119692921350459,
+                    -0.7530941355342518
+                ]
+            ],
+            "translation_vector": [
+                0.6172320048207299,
+                -0.3537173917436023,
+                0.22134667253698712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7425578835765856,
+                    -0.6152235579247736,
+                    0.26477870630517963
+                ],
+                [
+                    -0.6239381379791099,
+                    -0.4916468883966273,
+                    0.607440974173685
+                ],
+                [
+                    -0.243534370291799,
+                    -0.6162656171686824,
+                    -0.7489377140872795
+                ]
+            ],
+            "translation_vector": [
+                0.6191785602072721,
+                -0.3506429046422937,
+                0.21876400079543262
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.741051692899923,
+                    -0.614841028934577,
+                    0.2698386510284036
+                ],
+                [
+                    -0.6257356836714199,
+                    -0.48663311718638597,
+                    0.6096253467808911
+                ],
+                [
+                    -0.2435102515920399,
+                    -0.6206115680489138,
+                    -0.7453482669017547
+                ]
+            ],
+            "translation_vector": [
+                0.6205260158100144,
+                -0.3483910384666218,
+                0.21768246468735208
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.739498774193072,
+                    -0.6149183883824089,
+                    0.27389220251063184
+                ],
+                [
+                    -0.6273787174049489,
+                    -0.48209714828348404,
+                    0.6115376395319047
+                ],
+                [
+                    -0.24400308996868314,
+                    -0.6240654735251049,
+                    -0.7422969600096859
+                ]
+            ],
+            "translation_vector": [
+                0.6217385430368346,
+                -0.346234262770681,
+                0.2165212184929687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7373803831196938,
+                    -0.6148655233912756,
+                    0.27966150742464824
+                ],
+                [
+                    -0.6293699299215757,
+                    -0.47505566168485197,
+                    0.6149923654905632
+                ],
+                [
+                    -0.24528282023159437,
+                    -0.6294938494107313,
+                    -0.7372745971843158
+                ]
+            ],
+            "translation_vector": [
+                0.622803036974577,
+                -0.3434569748530992,
+                0.21508486185667985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7371499798570191,
+                    -0.6138174155210238,
+                    0.2825563441154482
+                ],
+                [
+                    -0.629250956744457,
+                    -0.4711528569429063,
+                    0.6181085817481611
+                ],
+                [
+                    -0.2462785833826853,
+                    -0.6334375784539694,
+                    -0.7335555149880544
+                ]
+            ],
+            "translation_vector": [
+                0.623385611268651,
+                -0.3415516699897975,
+                0.2145948036352927
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7358031922145627,
+                    -0.6140652103730643,
+                    0.2855128363775332
+                ],
+                [
+                    -0.6305593647023012,
+                    -0.4675086579687264,
+                    0.6195405897199238
+                ],
+                [
+                    -0.2469585995933121,
+                    -0.635892736342982,
+                    -0.7311989318599592
+                ]
+            ],
+            "translation_vector": [
+                0.623991433854762,
+                -0.3406537444154651,
+                0.21419403748967208
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7334160546115391,
+                    -0.6153634638600614,
+                    0.2888402641326013
+                ],
+                [
+                    -0.6325521012381125,
+                    -0.4621793500413941,
+                    0.6215046963736985
+                ],
+                [
+                    -0.24895527722322447,
+                    -0.6385280383361889,
+                    -0.7282192075201298
+                ]
+            ],
+            "translation_vector": [
+                0.6248550277060546,
+                -0.33997318014836964,
+                0.21398449553309798
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7314944266431502,
+                    -0.6160771918958512,
+                    0.29217254733415915
+                ],
+                [
+                    -0.6342002972558981,
+                    -0.4573805181824095,
+                    0.6233723161544158
+                ],
+                [
+                    -0.25041143494365287,
+                    -0.6412892913599237,
+                    -0.7252876381385164
+                ]
+            ],
+            "translation_vector": [
+                0.6257626075238261,
+                -0.3394697458108473,
+                0.21407702228589437
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.729425128320448,
+                    -0.6169374103765068,
+                    0.29551178293365554
+                ],
+                [
+                    -0.636318496278622,
+                    -0.45338042292508524,
+                    0.6241353726572343
+                ],
+                [
+                    -0.2510732034057234,
+                    -0.643299637638792,
+                    -0.7232757584389151
+                ]
+            ],
+            "translation_vector": [
+                0.626731240414007,
+                -0.3394996122261059,
+                0.21428814283235786
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7269021119436495,
+                    -0.6179914124586905,
+                    0.2994994720849678
+                ],
+                [
+                    -0.6390193252862277,
+                    -0.4489409271130117,
+                    0.6245849388783269
+                ],
+                [
+                    -0.25153055791015905,
+                    -0.6453980617341688,
+                    -0.7212445634784237
+                ]
+            ],
+            "translation_vector": [
+                0.6279363133088303,
+                -0.3398138402465856,
+                0.21465567460510282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7251255080952197,
+                    -0.6189133039137324,
+                    0.3018928944977637
+                ],
+                [
+                    -0.6408913037189626,
+                    -0.4461897160709696,
+                    0.6246383546420414
+                ],
+                [
+                    -0.25189548294294317,
+                    -0.6464217350237351,
+                    -0.7201996988071059
+                ]
+            ],
+            "translation_vector": [
+                0.6286556148015487,
+                -0.3401266193307159,
+                0.21482238632512152
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7239819998067536,
+                    -0.6197144898316772,
+                    0.3029917738957253
+                ],
+                [
+                    -0.6420721680880673,
+                    -0.4448162061433339,
+                    0.6244052159607092
+                ],
+                [
+                    -0.25217730850039377,
+                    -0.6466007221190797,
+                    -0.7199403525519193
+                ]
+            ],
+            "translation_vector": [
+                0.6290795544152474,
+                -0.3403985886358231,
+                0.21483157297505057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7222553254818284,
+                    -0.620737597672161,
+                    0.3050116057617038
+                ],
+                [
+                    -0.6439977787670345,
+                    -0.4427634184490662,
+                    0.6238809311290284
+                ],
+                [
+                    -0.2522183691888131,
+                    -0.6470281215832061,
+                    -0.7195418710014339
+                ]
+            ],
+            "translation_vector": [
+                0.6298858756026372,
+                -0.3410383383165099,
+                0.2150655444679046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.721446732567058,
+                    -0.6207097677959339,
+                    0.30697556292160166
+                ],
+                [
+                    -0.6450894177396873,
+                    -0.44127558765126146,
+                    0.6238072609895666
+                ],
+                [
+                    -0.25174243819544484,
+                    -0.6480703973379376,
+                    -0.7187701335654264
+                ]
+            ],
+            "translation_vector": [
+                0.6306457880170576,
+                -0.34149116992454687,
+                0.21557901292958526
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7207200399863102,
+                    -0.6207125044626319,
+                    0.30867233560178176
+                ],
+                [
+                    -0.6459869976581145,
+                    -0.43979857400650374,
+                    0.6239214799624242
+                ],
+                [
+                    -0.25152221138258757,
+                    -0.649071029322349,
+                    -0.7179438530105541
+                ]
+            ],
+            "translation_vector": [
+                0.6312686415659998,
+                -0.34193232982291616,
+                0.216069649183915
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7200240745510039,
+                    -0.6203098012659598,
+                    0.3110965806953785
+                ],
+                [
+                    -0.6471111895058491,
+                    -0.4382710426944673,
+                    0.6238313887196039
+                ],
+                [
+                    -0.25062410196007806,
+                    -0.6504876967236891,
+                    -0.7169751152779393
+                ]
+            ],
+            "translation_vector": [
+                0.6319813972033722,
+                -0.34255167284474364,
+                0.21670545835121727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7196776792069535,
+                    -0.6199433424243174,
+                    0.31262483944027764
+                ],
+                [
+                    -0.6477359914312237,
+                    -0.4373608856737126,
+                    0.6238217221989915
+                ],
+                [
+                    -0.25000424687573464,
+                    -0.6514489295919302,
+                    -0.7163184827139568
+                ]
+            ],
+            "translation_vector": [
+                0.6323754420083817,
+                -0.3429252406355383,
+                0.21711345197570786
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7192550847637771,
+                    -0.6194728608991686,
+                    0.31452424016417463
+                ],
+                [
+                    -0.6486339223883589,
+                    -0.4365754388745955,
+                    0.6234387868095367
+                ],
+                [
+                    -0.24888985067403738,
+                    -0.6524226090356264,
+                    -0.7158202158716963
+                ]
+            ],
+            "translation_vector": [
+                0.6328012475114115,
+                -0.3435242508013594,
+                0.21758217613893602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7191018033258293,
+                    -0.6189465054704056,
+                    0.315907929339411
+                ],
+                [
+                    -0.6490982940830855,
+                    -0.43595801451845173,
+                    0.6233875313122311
+                ],
+                [
+                    -0.24812094041408347,
+                    -0.6533343959589938,
+                    -0.7152553152440938
+                ]
+            ],
+            "translation_vector": [
+                0.6330370780512933,
+                -0.34404744367910856,
+                0.21807433267664592
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7187237404329133,
+                    -0.6182343653700556,
+                    0.3181547648764779
+                ],
+                [
+                    -0.6500854686778466,
+                    -0.43520348754943095,
+                    0.6228858706366016
+                ],
+                [
+                    -0.24662738767628142,
+                    -0.6545106522435652,
+                    -0.7146962555853194
+                ]
+            ],
+            "translation_vector": [
+                0.6335449794434002,
+                -0.34480475485157736,
+                0.21877141732250135
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7185192431680869,
+                    -0.6173083064208277,
+                    0.32040685389206197
+                ],
+                [
+                    -0.6509772801404051,
+                    -0.43471205352333725,
+                    0.6222973656239625
+                ],
+                [
+                    -0.24486461144510083,
+                    -0.6557102144586225,
+                    -0.7142026580155433
+                ]
+            ],
+            "translation_vector": [
+                0.6339100951627438,
+                -0.34558007632666654,
+                0.21947423556887838
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7184282920319268,
+                    -0.6161757568657157,
+                    0.3227820098132035
+                ],
+                [
+                    -0.6516226899815034,
+                    -0.4337829694079735,
+                    0.6222702028483048
+                ],
+                [
+                    -0.24341047452679163,
+                    -0.6573886005267839,
+                    -0.7131560620145344
+                ]
+            ],
+            "translation_vector": [
+                0.6343867930836913,
+                -0.34626255598003575,
+                0.2203413981036008
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7184693401415255,
+                    -0.6153171007849566,
+                    0.32432494933044603
+                ],
+                [
+                    -0.6518535798338968,
+                    -0.4329701084642281,
+                    0.6225944070052412
+                ],
+                [
+                    -0.2426699769941357,
+                    -0.6587273720273585,
+                    -0.7121724030089873
+                ]
+            ],
+            "translation_vector": [
+                0.6346447426576647,
+                -0.3467197954847196,
+                0.22099582295696701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7184683017895087,
+                    -0.6145171672641734,
+                    0.32584037573835967
+                ],
+                [
+                    -0.6521314163482148,
+                    -0.4321884305445406,
+                    0.6228465110403348
+                ],
+                [
+                    -0.24192543300647518,
+                    -0.6599862207963607,
+                    -0.7112596384046874
+                ]
+            ],
+            "translation_vector": [
+                0.6348102144886913,
+                -0.3472321968817198,
+                0.22164259057194544
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.71840534945889,
+                    -0.6137827040792403,
+                    0.32735996401824363
+                ],
+                [
+                    -0.6522857023769627,
+                    -0.4308802715515487,
+                    0.6235908546974177
+                ],
+                [
+                    -0.2416963308439797,
+                    -0.6615232299480036,
+                    -0.7099083742960905
+                ]
+            ],
+            "translation_vector": [
+                0.6349205310042363,
+                -0.34782197411581334,
+                0.2224266236342428
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7186362186451803,
+                    -0.6137571742636361,
+                    0.32690077438157555
+                ],
+                [
+                    -0.6513698783000923,
+                    -0.4295351589909513,
+                    0.6254732838690568
+                ],
+                [
+                    -0.24347333918661412,
+                    -0.6624210732083752,
+                    -0.7084624583383266
+                ]
+            ],
+            "translation_vector": [
+                0.6349514405876657,
+                -0.34794305865713615,
+                0.22301088871920438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7200788993966983,
+                    -0.6138008326622362,
+                    0.3236277436604989
+                ],
+                [
+                    -0.6484738020286858,
+                    -0.4293090363865979,
+                    0.628629842879951
+                ],
+                [
+                    -0.2469172062171869,
+                    -0.6625271987624032,
+                    -0.7071701380671719
+                ]
+            ],
+            "translation_vector": [
+                0.6347589276641687,
+                -0.3475661623058056,
+                0.22351246136775027
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7205019865188361,
+                    -0.615111725632191,
+                    0.32017878195189525
+                ],
+                [
+                    -0.6463113266697182,
+                    -0.42832774099827264,
+                    0.631519608016842
+                ],
+                [
+                    -0.2513136614687706,
+                    -0.6619463054365552,
+                    -0.706164663713822
+                ]
+            ],
+            "translation_vector": [
+                0.6350367760174476,
+                -0.3478490941792449,
+                0.22432703290444908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7205802954550024,
+                    -0.6149489179005413,
+                    0.3203152606026365
+                ],
+                [
+                    -0.646373107187064,
+                    -0.42857657215800404,
+                    0.6312875161941945
+                ],
+                [
+                    -0.2509299585687647,
+                    -0.6619365152114275,
+                    -0.7063102758154023
+                ]
+            ],
+            "translation_vector": [
+                0.6353776727620711,
+                -0.34835554350415593,
+                0.22480068997639352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7207737225272872,
+                    -0.6144606454210143,
+                    0.32081670178303945
+                ],
+                [
+                    -0.646430496069171,
+                    -0.42877313918209936,
+                    0.6310952454801837
+                ],
+                [
+                    -0.2502256075343258,
+                    -0.6622625690349095,
+                    -0.7062545114824819
+                ]
+            ],
+            "translation_vector": [
+                0.6356780642275575,
+                -0.34860297874572016,
+                0.2251615500952602
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7210454635441095,
+                    -0.614334399021562,
+                    0.32044763329017767
+                ],
+                [
+                    -0.6461359944867049,
+                    -0.4291608064746095,
+                    0.6311333288733367
+                ],
+                [
+                    -0.2502033495601865,
+                    -0.6621285738924721,
+                    -0.7063880204986378
+                ]
+            ],
+            "translation_vector": [
+                0.6356303846536345,
+                -0.34859423153552194,
+                0.2251752216439989
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7210742816150776,
+                    -0.6144325217829335,
+                    0.3201945604921556
+                ],
+                [
+                    -0.6460936403787836,
+                    -0.42939227706149746,
+                    0.6310192392170251
+                ],
+                [
+                    -0.2502296710132328,
+                    -0.6618874138215707,
+                    -0.7066046724790335
+                ]
+            ],
+            "translation_vector": [
+                0.6355728258411317,
+                -0.34862251250855686,
+                0.22512238738482648
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7211452949415126,
+                    -0.6143266580658467,
+                    0.3202377566330479
+                ],
+                [
+                    -0.6460633224749096,
+                    -0.42947370297829696,
+                    0.6309948667008239
+                ],
+                [
+                    -0.25010327254236375,
+                    -0.6619328482858045,
+                    -0.706606861998836
+                ]
+            ],
+            "translation_vector": [
+                0.6355795563649248,
+                -0.3486222259438041,
+                0.2251453443425793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7212167308037292,
+                    -0.614286080464668,
+                    0.3201547103450722
+                ],
+                [
+                    -0.6460323052040059,
+                    -0.4296842535370908,
+                    0.6308832720044744
+                ],
+                [
+                    -0.2499773746593477,
+                    -0.6618338564999744,
+                    -0.706744125231184
+                ]
+            ],
+            "translation_vector": [
+                0.6354976850349122,
+                -0.3486679884445696,
+                0.22513559664491703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7213009396623943,
+                    -0.6143159390619477,
+                    0.3199076139396882
+                ],
+                [
+                    -0.6459101870698608,
+                    -0.4298592744042588,
+                    0.6308890825240372
+                ],
+                [
+                    -0.25004996437017246,
+                    -0.6616924748121906,
+                    -0.7068508216698867
+                ]
+            ],
+            "translation_vector": [
+                0.6353663537443108,
+                -0.34863658047846213,
+                0.2250646928656223
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7214527047835964,
+                    -0.6141806328448813,
+                    0.3198251788066327
+                ],
+                [
+                    -0.6457616406758898,
+                    -0.42999150484990306,
+                    0.6309510354920571
+                ],
+                [
+                    -0.2499957963486914,
+                    -0.6617321633373863,
+                    -0.7068328273451983
+                ]
+            ],
+            "translation_vector": [
+                0.6352988803134317,
+                -0.34856406898271414,
+                0.22504130956512627
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7217018039959533,
+                    -0.6139882454678278,
+                    0.3196325085724622
+                ],
+                [
+                    -0.6455191722686704,
+                    -0.4302713790257031,
+                    0.6310083506776201
+                ],
+                [
+                    -0.24990298986318146,
+                    -0.661728777384404,
+                    -0.7068688144477618
+                ]
+            ],
+            "translation_vector": [
+                0.6351979826081411,
+                -0.3484612075869694,
+                0.22500249357540103
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7216992671345211,
+                    -0.6140448473639039,
+                    0.3195294872829975
+                ],
+                [
+                    -0.6455396155780055,
+                    -0.43042399714747903,
+                    0.6308833389771742
+                ],
+                [
+                    -0.2498575044638365,
+                    -0.6615769857737097,
+                    -0.7070269580133964
+                ]
+            ],
+            "translation_vector": [
+                0.6351136572306169,
+                -0.34845832108892394,
+                0.2249263989319072
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7218363285693196,
+                    -0.6139504336609333,
+                    0.31940128328658596
+                ],
+                [
+                    -0.6454117757279292,
+                    -0.4306157758974367,
+                    0.6308832643999762
+                ],
+                [
+                    -0.24979182234270034,
+                    -0.6615398087460808,
+                    -0.7070849502958695
+                ]
+            ],
+            "translation_vector": [
+                0.6350283404702487,
+                -0.34838396358669166,
+                0.22486895930028838
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7220156444008548,
+                    -0.6137514521775761,
+                    0.3193784028238838
+                ],
+                [
+                    -0.6453273949177869,
+                    -0.43093766643928005,
+                    0.6307497768628147
+                ],
+                [
+                    -0.24949140788620564,
+                    -0.661514839284641,
+                    -0.7072143626915213
+                ]
+            ],
+            "translation_vector": [
+                0.6349427628625731,
+                -0.3483324116140501,
+                0.2248217377071506
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7220418093516027,
+                    -0.6137986745833086,
+                    0.31922846462688353
+                ],
+                [
+                    -0.645312922703579,
+                    -0.4311295937645486,
+                    0.630633415838536
+                ],
+                [
+                    -0.249453116516969,
+                    -0.6613459461281886,
+                    -0.7073858085937139
+                ]
+            ],
+            "translation_vector": [
+                0.6348296133659521,
+                -0.34829105381359643,
+                0.22470624059899233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7221218324144313,
+                    -0.6137066232557898,
+                    0.31922443472015144
+                ],
+                [
+                    -0.6453083749408819,
+                    -0.43135493629456084,
+                    0.6304839571039645
+                ],
+                [
+                    -0.24923314462884416,
+                    -0.6612844316224991,
+                    -0.7075208407616884
+                ]
+            ],
+            "translation_vector": [
+                0.6347802445210324,
+                -0.34827815206388035,
+                0.22466524344833205
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7222387674681391,
+                    -0.6135045729577432,
+                    0.31934824522148336
+                ],
+                [
+                    -0.6452955514534784,
+                    -0.4315349592962841,
+                    0.6303738812637352
+                ],
+                [
+                    -0.24892732682543026,
+                    -0.6613544570539249,
+                    -0.7075630488475594
+                ]
+            ],
+            "translation_vector": [
+                0.6347342511220856,
+                -0.3482379304669796,
+                0.2246371984711763
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7223111003923743,
+                    -0.6134241390386994,
+                    0.3193391612292301
+                ],
+                [
+                    -0.6452778608747431,
+                    -0.4317086147734178,
+                    0.6302730790659973
+                ],
+                [
+                    -0.24876325394815327,
+                    -0.6613157321393827,
+                    -0.707656940833678
+                ]
+            ],
+            "translation_vector": [
+                0.6346918098301456,
+                -0.34821364779388936,
+                0.22459750719763238
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7222949110794963,
+                    -0.6134166816963205,
+                    0.31939010010540114
+                ],
+                [
+                    -0.6453616397223082,
+                    -0.4318317331793606,
+                    0.6301029346021517
+                ],
+                [
+                    -0.24859287078192066,
+                    -0.6612422618344845,
+                    -0.7077854588506455
+                ]
+            ],
+            "translation_vector": [
+                0.6346535084671184,
+                -0.3482298682973713,
+                0.22455440652461098
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7223536794057175,
+                    -0.613349427295566,
+                    0.31938635206474203
+                ],
+                [
+                    -0.6453294435917291,
+                    -0.4319218420167164,
+                    0.63007414771793
+                ],
+                [
+                    -0.24850567615773128,
+                    -0.6612457957712004,
+                    -0.7078127764404234
+                ]
+            ],
+            "translation_vector": [
+                0.6345973745168587,
+                -0.34818699538106884,
+                0.22450994008630312
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7223736321208007,
+                    -0.6133049338956447,
+                    0.3194266640026485
+                ],
+                [
+                    -0.6453494853680987,
+                    -0.43199216629911064,
+                    0.6300054047318416
+                ],
+                [
+                    -0.24839560654675868,
+                    -0.6612411256988334,
+                    -0.7078557736804917
+                ]
+            ],
+            "translation_vector": [
+                0.6345835966868693,
+                -0.3481857376533885,
+                0.22450019211348726
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7224211481024533,
+                    -0.6132473486451244,
+                    0.31942976403907397
+                ],
+                [
+                    -0.6453144916998703,
+                    -0.43203492996297715,
+                    0.6300119253585788
+                ],
+                [
+                    -0.24834832710624669,
+                    -0.661266594250466,
+                    -0.7078485712014386
+                ]
+            ],
+            "translation_vector": [
+                0.634559744160003,
+                -0.3481702667427248,
+                0.22449721764222522
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7224368629515806,
+                    -0.6132115056040128,
+                    0.31946303141919136
+                ],
+                [
+                    -0.6453343654061202,
+                    -0.4320997054940175,
+                    0.6299471417014794
+                ],
+                [
+                    -0.2482509534212499,
+                    -0.6612575095277508,
+                    -0.7078912135480968
+                ]
+            ],
+            "translation_vector": [
+                0.6345291580554766,
+                -0.3481611021670755,
+                0.2244739853272725
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7224539348557348,
+                    -0.6131519012934047,
+                    0.3195388207272302
+                ],
+                [
+                    -0.6453640807922585,
+                    -0.4321510442702466,
+                    0.6298814794541103
+                ],
+                [
+                    -0.24812399165463472,
+                    -0.6612792306404448,
+                    -0.7079154355492979
+                ]
+            ],
+            "translation_vector": [
+                0.6345214578677604,
+                -0.3481718822016883,
+                0.22448000888531355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7218288392055832,
+                    -0.6136016721734058,
+                    0.32008766736180444
+                ],
+                [
+                    -0.6458451525355602,
+                    -0.4310391550506808,
+                    0.6301502088863531
+                ],
+                [
+                    -0.24869090421131157,
+                    -0.6615876621576281,
+                    -0.7074281585032964
+                ]
+            ],
+            "translation_vector": [
+                0.6346792051514378,
+                -0.34830362723532093,
+                0.22462812359965054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7192406517221291,
+                    -0.6139560833100908,
+                    0.3251935003607239
+                ],
+                [
+                    -0.6484471078894654,
+                    -0.42518472105515853,
+                    0.631454116504941
+                ],
+                [
+                    -0.2494177884195822,
+                    -0.6650382551009982,
+                    -0.7039281824675757
+                ]
+            ],
+            "translation_vector": [
+                0.6356346912522793,
+                -0.34872141266837436,
+                0.2255423466393861
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7177680385152644,
+                    -0.6125587097387973,
+                    0.3310300137587078
+                ],
+                [
+                    -0.6498147273006817,
+                    -0.41854999469575493,
+                    0.6344735787432954
+                ],
+                [
+                    -0.2500997062555074,
+                    -0.6705130342232907,
+                    -0.6984714796379202
+                ]
+            ],
+            "translation_vector": [
+                0.6368277888037286,
+                -0.3479945134190343,
+                0.2264515405599714
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.717472015336876,
+                    -0.6100861110680239,
+                    0.3361976268362654
+                ],
+                [
+                    -0.6497477916357265,
+                    -0.412133523645039,
+                    0.6387282410794288
+                ],
+                [
+                    -0.25112091604033787,
+                    -0.6767133039698712,
+                    -0.6920963731715711
+                ]
+            ],
+            "translation_vector": [
+                0.6380389592829557,
+                -0.3462419761829171,
+                0.22712174992609746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7194920211739935,
+                    -0.6051492442112841,
+                    0.3407720993530332
+                ],
+                [
+                    -0.6485168514188647,
+                    -0.4098408921897689,
+                    0.6414486234413919
+                ],
+                [
+                    -0.24850980844369916,
+                    -0.6825136154829484,
+                    -0.6873267343757772
+                ]
+            ],
+            "translation_vector": [
+                0.6390789162454154,
+                -0.34313340868967224,
+                0.2267862626838551
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7216102440642904,
+                    -0.6017755715682807,
+                    0.342264250433994
+                ],
+                [
+                    -0.6457340186274397,
+                    -0.40680928911413816,
+                    0.6461685379819312
+                ],
+                [
+                    -0.24961216486528054,
+                    -0.6872935062650586,
+                    -0.6821447085458843
+                ]
+            ],
+            "translation_vector": [
+                0.6400417550587998,
+                -0.3393236105847441,
+                0.2261910280472199
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7225331069541729,
+                    -0.5998332145250824,
+                    0.34372376133700144
+                ],
+                [
+                    -0.6434196425063086,
+                    -0.40157437145568364,
+                    0.6517278479756918
+                ],
+                [
+                    -0.2528973566334836,
+                    -0.6920535665268109,
+                    -0.6760952507341828
+                ]
+            ],
+            "translation_vector": [
+                0.64138514312904,
+                -0.3350742851279826,
+                0.22536477124541046
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7224152634165607,
+                    -0.5986384613995964,
+                    0.3460464993550799
+                ],
+                [
+                    -0.641379995531398,
+                    -0.39315030882251534,
+                    0.6588357428106832
+                ],
+                [
+                    -0.2583561273028477,
+                    -0.6979002989008423,
+                    -0.6679725176077158
+                ]
+            ],
+            "translation_vector": [
+                0.6433193163161127,
+                -0.3299061015102879,
+                0.22436049751141804
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7216729879419764,
+                    -0.5983181802687405,
+                    0.3481428638286344
+                ],
+                [
+                    -0.640580259377957,
+                    -0.38658994059119056,
+                    0.6634795770247711
+                ],
+                [
+                    -0.26238336412617597,
+                    -0.7018287348018766,
+                    -0.6622623326418526
+                ]
+            ],
+            "translation_vector": [
+                0.644965475630461,
+                -0.32640370514053024,
+                0.22370327794894493
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7217553407251026,
+                    -0.5974675296710668,
+                    0.3494306499486613
+                ],
+                [
+                    -0.6385074018084529,
+                    -0.37987141056015794,
+                    0.6693325102479746
+                ],
+                [
+                    -0.2671657275374406,
+                    -0.7062083704033738,
+                    -0.6556616593957597
+                ]
+            ],
+            "translation_vector": [
+                0.646810411431304,
+                -0.32240682131898707,
+                0.22331546588780468
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7218610807704634,
+                    -0.5963485282508335,
+                    0.3511196561315863
+                ],
+                [
+                    -0.6363005729119987,
+                    -0.37245667606320504,
+                    0.6755720578648966
+                ],
+                [
+                    -0.2720995424118917,
+                    -0.7110868141858725,
+                    -0.6483188889043922
+                ]
+            ],
+            "translation_vector": [
+                0.6492352689275545,
+                -0.3173559675975096,
+                0.22261615687229466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7201338844962126,
+                    -0.5976419544975664,
+                    0.3524645835041077
+                ],
+                [
+                    -0.6369191058329045,
+                    -0.36791398240745987,
+                    0.6774757222027198
+                ],
+                [
+                    -0.275211266167301,
+                    -0.7123646508449251,
+                    -0.6455969045783746
+                ]
+            ],
+            "translation_vector": [
+                0.6508404106350033,
+                -0.3149645209855738,
+                0.2218049479797851
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.719069406102508,
+                    -0.5975682770733334,
+                    0.35475532898463186
+                ],
+                [
+                    -0.6362753596199947,
+                    -0.36084539435858803,
+                    0.6818682190208323
+                ],
+                [
+                    -0.27945099024307085,
+                    -0.7160326498182907,
+                    -0.6396908538085909
+                ]
+            ],
+            "translation_vector": [
+                0.6536658837440117,
+                -0.3101668725641715,
+                0.22083529002594648
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7174430912553871,
+                    -0.5986391287914847,
+                    0.35623953218261306
+                ],
+                [
+                    -0.6358714804561267,
+                    -0.3539193145882851,
+                    0.68586338224452
+                ],
+                [
+                    -0.2845046065575188,
+                    -0.7185905038623397,
+                    -0.6345745161968142
+                ]
+            ],
+            "translation_vector": [
+                0.6565977653194135,
+                -0.3048876150437303,
+                0.2192754383704854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7149526424794223,
+                    -0.6008722717029348,
+                    0.3574845900318589
+                ],
+                [
+                    -0.6371215208950458,
+                    -0.34932377581695656,
+                    0.6870582706447602
+                ],
+                [
+                    -0.2879563970883011,
+                    -0.7189752518324531,
+                    -0.6325786122122573
+                ]
+            ],
+            "translation_vector": [
+                0.6585636794384836,
+                -0.3015882107899451,
+                0.21766087516421057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7122196755817203,
+                    -0.6031838596694649,
+                    0.3590436813933885
+                ],
+                [
+                    -0.6382829297414058,
+                    -0.3436267259769599,
+                    0.6888509089745645
+                ],
+                [
+                    -0.29212674529217214,
+                    -0.719784623778949,
+                    -0.6297396764190736
+                ]
+            ],
+            "translation_vector": [
+                0.6613016048342374,
+                -0.29755316523860825,
+                0.2160901402643871
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7087450572531683,
+                    -0.6059647232785176,
+                    0.3612301177382539
+                ],
+                [
+                    -0.6399635389733527,
+                    -0.3367873692779124,
+                    0.6906670230143939
+                ],
+                [
+                    -0.2968621104214975,
+                    -0.7206809433007456,
+                    -0.6264917121233464
+                ]
+            ],
+            "translation_vector": [
+                0.6647167131341698,
+                -0.29239695766319185,
+                0.2139731054622212
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7058980192307703,
+                    -0.6078801217971967,
+                    0.36357907526410377
+                ],
+                [
+                    -0.6424954040949381,
+                    -0.33343278184987535,
+                    0.6899436467601802
+                ],
+                [
+                    -0.2981738455380649,
+                    -0.7206277385111396,
+                    -0.6259297247498025
+                ]
+            ],
+            "translation_vector": [
+                0.6667327469377631,
+                -0.29037602139265245,
+                0.21285565129176795
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7046429499914065,
+                    -0.6079141848206526,
+                    0.3659489813092119
+                ],
+                [
+                    -0.6437164920290388,
+                    -0.3307094737742975,
+                    0.690116165471985
+                ],
+                [
+                    -0.29850861112744653,
+                    -0.7218528851849032,
+                    -0.6243564856978696
+                ]
+            ],
+            "translation_vector": [
+                0.6689146284343125,
+                -0.2875396717409454,
+                0.2119780465560785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7033550777660041,
+                    -0.6079436778479264,
+                    0.3683695415551009
+                ],
+                [
+                    -0.6450192849525122,
+                    -0.32806018544024973,
+                    0.6901642100024162
+                ],
+                [
+                    -0.29873358803477135,
+                    -0.723035959889718,
+                    -0.6228781936191263
+                ]
+            ],
+            "translation_vector": [
+                0.6715151159219062,
+                -0.28399169810034497,
+                0.2108206535446266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7022870338728766,
+                    -0.6086078654156745,
+                    0.36930933945435696
+                ],
+                [
+                    -0.6458492589835185,
+                    -0.32647792663820857,
+                    0.6901383180844665
+                ],
+                [
+                    -0.29945226117776613,
+                    -0.7231933555918449,
+                    -0.6223501536139684
+                ]
+            ],
+            "translation_vector": [
+                0.6726920163524293,
+                -0.2827074999396681,
+                0.21037761719376818
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7019267279421801,
+                    -0.6088524347868103,
+                    0.36959110007487606
+                ],
+                [
+                    -0.6462003517695145,
+                    -0.32615752194043585,
+                    0.6899611411192875
+                ],
+                [
+                    -0.299539603347103,
+                    -0.7231320650723813,
+                    -0.6223793397043424
+                ]
+            ],
+            "translation_vector": [
+                0.6729966096260607,
+                -0.2825179140832077,
+                0.21028504720554145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7014581423122047,
+                    -0.6092960590284099,
+                    0.36974962749996093
+                ],
+                [
+                    -0.6467195516818344,
+                    -0.3261281969312422,
+                    0.6894883759997876
+                ],
+                [
+                    -0.29951677091000817,
+                    -0.7227715487059698,
+                    -0.6228089533113795
+                ]
+            ],
+            "translation_vector": [
+                0.6730506995683796,
+                -0.2827677556296291,
+                0.2102230977052557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7014429522182278,
+                    -0.6093376299342104,
+                    0.36970993701757054
+                ],
+                [
+                    -0.6468147728103418,
+                    -0.32636717227464046,
+                    0.6892859483086542
+                ],
+                [
+                    -0.2993466793830901,
+                    -0.722628619421909,
+                    -0.6230565334981272
+                ]
+            ],
+            "translation_vector": [
+                0.6730194507374091,
+                -0.2829158196237431,
+                0.21023526042909857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7067372883624494,
+                    -0.5972326504224045,
+                    0.37925659718391486
+                ],
+                [
+                    -0.6503082599555731,
+                    -0.337293682596889,
+                    0.6806850510432737
+                ],
+                [
+                    -0.27860648282415645,
+                    -0.7276992049945221,
+                    -0.626763348305159
+                ]
+            ],
+            "translation_vector": [
+                0.6732459007694884,
+                -0.282076438487785,
+                0.20995215625289473
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7051373060469797,
+                    -0.591376269208778,
+                    0.391223066596942
+                ],
+                [
+                    -0.656525724468435,
+                    -0.3360795247185162,
+                    0.6752958804673496
+                ],
+                [
+                    -0.26787189612201745,
+                    -0.7330243251636902,
+                    -0.625235944253297
+                ]
+            ],
+            "translation_vector": [
+                0.6759175010082096,
+                -0.2795004368973178,
+                0.20938241936868712
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7034662240302669,
+                    -0.5874722762890321,
+                    0.40001449503784414
+                ],
+                [
+                    -0.660280723898889,
+                    -0.3319342075676831,
+                    0.6736831951993262
+                ],
+                [
+                    -0.26299170575544273,
+                    -0.7380352338731515,
+                    -0.6214011234827672
+                ]
+            ],
+            "translation_vector": [
+                0.6779875933848651,
+                -0.2777270732822478,
+                0.2096900730605273
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.698355110774417,
+                    -0.5822676215178637,
+                    0.41625059301721345
+                ],
+                [
+                    -0.6687227623578954,
+                    -0.32346114574154616,
+                    0.6694645280371414
+                ],
+                [
+                    -0.2551666246978195,
+                    -0.7458802210325037,
+                    -0.6152663565585444
+                ]
+            ],
+            "translation_vector": [
+                0.6814600514015388,
+                -0.2776712892373703,
+                0.21128474964825134
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6955792738459472,
+                    -0.5749879068487952,
+                    0.4307648787605439
+                ],
+                [
+                    -0.6747344684166637,
+                    -0.3168600544517889,
+                    0.6665831553701996
+                ],
+                [
+                    -0.2467850703069921,
+                    -0.7543133386534079,
+                    -0.6083654462599947
+                ]
+            ],
+            "translation_vector": [
+                0.6845600306326831,
+                -0.27805344244973534,
+                0.2138501747134851
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6926066708435825,
+                    -0.5699725725092601,
+                    0.44207156218212584
+                ],
+                [
+                    -0.6799572278097118,
+                    -0.3113644650655015,
+                    0.6638601797395335
+                ],
+                [
+                    -0.2407367189530935,
+                    -0.7603837429098877,
+                    -0.6032100758989765
+                ]
+            ],
+            "translation_vector": [
+                0.6870791559471217,
+                -0.27931793936364063,
+                0.21622379658868823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6865889050734548,
+                    -0.5628569068634312,
+                    0.46020406107091777
+                ],
+                [
+                    -0.6891368069472515,
+                    -0.30209725193972464,
+                    0.6586559888750825
+                ],
+                [
+                    -0.23170269040427807,
+                    -0.7693694514123868,
+                    -0.5953020329990667
+                ]
+            ],
+            "translation_vector": [
+                0.690992598447102,
+                -0.2823167189624823,
+                0.22020467301205626
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6792599994466935,
+                    -0.5551481447398627,
+                    0.4800170731792427
+                ],
+                [
+                    -0.6998630548258451,
+                    -0.2931173595597406,
+                    0.6513631230078669
+                ],
+                [
+                    -0.22090169225588596,
+                    -0.7783911297777064,
+                    -0.5876305739509063
+                ]
+            ],
+            "translation_vector": [
+                0.6950132542205407,
+                -0.28631343678831933,
+                0.22449902929019122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6722994679541447,
+                    -0.5508703704938698,
+                    0.49452528782714494
+                ],
+                [
+                    -0.7087822399901383,
+                    -0.2862120509245434,
+                    0.6447560764972503
+                ],
+                [
+                    -0.21363792187515687,
+                    -0.783979908427195,
+                    -0.5828673447014776
+                ]
+            ],
+            "translation_vector": [
+                0.697736488117163,
+                -0.28997821110304184,
+                0.22739303203817057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6587521523087777,
+                    -0.547184758075922,
+                    0.5163665774989195
+                ],
+                [
+                    -0.7236569277029257,
+                    -0.27306048756866774,
+                    0.6338443193058716
+                ],
+                [
+                    -0.20583064110116167,
+                    -0.7912185606127781,
+                    -0.5758532248114345
+                ]
+            ],
+            "translation_vector": [
+                0.70138264627037,
+                -0.2964289345118608,
+                0.2312774725912513
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6515824014305128,
+                    -0.5459024224143064,
+                    0.5267171151085166
+                ],
+                [
+                    -0.7311109407812739,
+                    -0.2667733667435029,
+                    0.6279400951255278
+                ],
+                [
+                    -0.20227992094117153,
+                    -0.7942433606889822,
+                    -0.5729400645665346
+                ]
+            ],
+            "translation_vector": [
+                0.7030077231279984,
+                -0.29992489258525856,
+                0.23305506565554113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6437771386541679,
+                    -0.5453950174854421,
+                    0.5367450704462097
+                ],
+                [
+                    -0.7385820508295301,
+                    -0.2594357190381105,
+                    0.6222456603943685
+                ],
+                [
+                    -0.20011883953965323,
+                    -0.797017805691462,
+                    -0.5698377553936466
+                ]
+            ],
+            "translation_vector": [
+                0.7048330050153415,
+                -0.3034440115368412,
+                0.23486561220498992
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6248208707750574,
+                    -0.5417250755203113,
+                    0.5622569003546444
+                ],
+                [
+                    -0.7567374881367256,
+                    -0.2428912041932631,
+                    0.6069202888139973
+                ],
+                [
+                    -0.19221668369946085,
+                    -0.8046973378097259,
+                    -0.561707166617555
+                ]
+            ],
+            "translation_vector": [
+                0.7088220796824459,
+                -0.3124346782343277,
+                0.2396053465166384
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.614363578527516,
+                    -0.539369954053225,
+                    0.57587971490884
+                ],
+                [
+                    -0.7658763883335,
+                    -0.23216563342539567,
+                    0.5996102704669247
+                ],
+                [
+                    -0.18971228524293984,
+                    -0.8094313876548197,
+                    -0.5557248217482232
+                ]
+            ],
+            "translation_vector": [
+                0.7110043451228757,
+                -0.31722712149678955,
+                0.24254731343701594
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6031571601362328,
+                    -0.5380866694126266,
+                    0.588781942977892
+                ],
+                [
+                    -0.7745395759548389,
+                    -0.21882230167599157,
+                    0.5934688244288152
+                ],
+                [
+                    -0.19049904318944336,
+                    -0.8139898872158352,
+                    -0.5487536588071725
+                ]
+            ],
+            "translation_vector": [
+                0.7129611634892422,
+                -0.3217986516086743,
+                0.24521893630792402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5916482385362853,
+                    -0.5375313438753343,
+                    0.600843087826171
+                ],
+                [
+                    -0.7830338113538888,
+                    -0.2057840610966775,
+                    0.5869505690219247
+                ],
+                [
+                    -0.19186039746001013,
+                    -0.8177487233558582,
+                    -0.5426569941835735
+                ]
+            ],
+            "translation_vector": [
+                0.7145535139148386,
+                -0.3265947427471443,
+                0.24753038448817893
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.585590485067721,
+                    -0.5367808689498657,
+                    0.6074126130790983
+                ],
+                [
+                    -0.7876961915846878,
+                    -0.1999216634319585,
+                    0.5827229515417918
+                ],
+                [
+                    -0.19135959228930768,
+                    -0.8196936178963612,
+                    -0.5398924700519949
+                ]
+            ],
+            "translation_vector": [
+                0.7155672071025627,
+                -0.3292878631281064,
+                0.24886870172414224
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5813157055115965,
+                    -0.5357842160641324,
+                    0.612378415966874
+                ],
+                [
+                    -0.7910349177746574,
+                    -0.1958159515767249,
+                    0.5795859487335269
+                ],
+                [
+                    -0.19061954093637817,
+                    -0.8213351246139694,
+                    -0.5376549113404987
+                ]
+            ],
+            "translation_vector": [
+                0.7166074950352601,
+                -0.33115553994647295,
+                0.25005122539298624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5765377186757134,
+                    -0.5351496231180662,
+                    0.6174294614130389
+                ],
+                [
+                    -0.7944887504305975,
+                    -0.1907445079994739,
+                    0.5765450182832788
+                ],
+                [
+                    -0.19076657040328496,
+                    -0.8229407108319712,
+                    -0.5351417588564157
+                ]
+            ],
+            "translation_vector": [
+                0.7183117120179062,
+                -0.33311169125461937,
+                0.2515405130639761
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5737350345591371,
+                    -0.5354016795275037,
+                    0.61981703080712
+                ],
+                [
+                    -0.7962371660409479,
+                    -0.18727580980502764,
+                    0.575268760212956
+                ],
+                [
+                    -0.19192312402237027,
+                    -0.8235731980953482,
+                    -0.5337534092111211
+                ]
+            ],
+            "translation_vector": [
+                0.7195020978951691,
+                -0.3339430086551005,
+                0.2522325739379687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5722234140571902,
+                    -0.5351513656916587,
+                    0.6214284996707878
+                ],
+                [
+                    -0.7971891345401145,
+                    -0.18512167347359193,
+                    0.57464723942739
+                ],
+                [
+                    -0.19248337116726963,
+                    -0.8242226530547978,
+                    -0.5325478100747328
+                ]
+            ],
+            "translation_vector": [
+                0.7208499216958717,
+                -0.3338174007919982,
+                0.25268368684659037
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5715329031016428,
+                    -0.5345284061833377,
+                    0.6225990071107635
+                ],
+                [
+                    -0.7967648718598934,
+                    -0.18003142654581494,
+                    0.5768487015032332
+                ],
+                [
+                    -0.19625462960729229,
+                    -0.8257530311412603,
+                    -0.5287873409214001
+                ]
+            ],
+            "translation_vector": [
+                0.7232502871743722,
+                -0.3318990119320276,
+                0.2532507574578737
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5727616359595948,
+                    -0.5332789655368599,
+                    0.6225412864130582
+                ],
+                [
+                    -0.79495774989259,
+                    -0.17609554452634235,
+                    0.5805450327784066
+                ],
+                [
+                    -0.19996570770659408,
+                    -0.8274079429845399,
+                    -0.5247950186763337
+                ]
+            ],
+            "translation_vector": [
+                0.7250640492848576,
+                -0.32930739772022977,
+                0.25362064737008516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5751267125662384,
+                    -0.5320520140311327,
+                    0.6214096224377019
+                ],
+                [
+                    -0.7924836096426177,
+                    -0.17388215886007832,
+                    0.5845808098782974
+                ],
+                [
+                    -0.202975350573805,
+                    -0.8286649800707004,
+                    -0.521646774996134
+                ]
+            ],
+            "translation_vector": [
+                0.7262733765587086,
+                -0.3263716261653665,
+                0.25357109857031873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5810558700293801,
+                    -0.5322245461516137,
+                    0.6157199918616492
+                ],
+                [
+                    -0.7858119997372097,
+                    -0.16997005050223898,
+                    0.5946508917014033
+                ],
+                [
+                    -0.21183384284246898,
+                    -0.8293655493242865,
+                    -0.5169905304941447
+                ]
+            ],
+            "translation_vector": [
+                0.728475992674811,
+                -0.31921338944980754,
+                0.25247453345215676
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5860872576033955,
+                    -0.5318810636697509,
+                    0.6112317568520682
+                ],
+                [
+                    -0.7808013659295989,
+                    -0.16922513973407247,
+                    0.6014250402539426
+                ],
+                [
+                    -0.21645081066469565,
+                    -0.8297381431460881,
+                    -0.5144741590897233
+                ]
+            ],
+            "translation_vector": [
+                0.7297621981052029,
+                -0.31399271509836807,
+                0.2516146168629545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5915507299714293,
+                    -0.5309069488603596,
+                    0.6067994277535639
+                ],
+                [
+                    -0.7754115914734729,
+                    -0.1684006503115845,
+                    0.6085869574540778
+                ],
+                [
+                    -0.2209176264557565,
+                    -0.8305293689126345,
+                    -0.5112889297596183
+                ]
+            ],
+            "translation_vector": [
+                0.730850091661585,
+                -0.3086675137878923,
+                0.2509237334408887
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.599573295485121,
+                    -0.5302863247095577,
+                    0.5994232871411836
+                ],
+                [
+                    -0.7668730059562607,
+                    -0.16640825095185943,
+                    0.6198500518276597
+                ],
+                [
+                    -0.2289490250617399,
+                    -0.831327076331075,
+                    -0.5064362112666374
+                ]
+            ],
+            "translation_vector": [
+                0.7325699592218606,
+                -0.3001631755078264,
+                0.24968013771797684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.603879273155909,
+                    -0.5318234645724735,
+                    0.5937117364368185
+                ],
+                [
+                    -0.7614693412031538,
+                    -0.16477953209269058,
+                    0.6269068098297774
+                ],
+                [
+                    -0.2355722094397513,
+                    -0.8306693134656202,
+                    -0.504474207275485
+                ]
+            ],
+            "translation_vector": [
+                0.7332817456565763,
+                -0.29472299796276674,
+                0.24821247929746323
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.609661173101835,
+                    -0.5327120536190867,
+                    0.5869677350085182
+                ],
+                [
+                    -0.7547949146933536,
+                    -0.16401113170969225,
+                    0.6351259602853275
+                ],
+                [
+                    -0.2420700121145694,
+                    -0.8302518994884877,
+                    -0.5020795680274301
+                ]
+            ],
+            "translation_vector": [
+                0.7341207185954182,
+                -0.2879257836351362,
+                0.24659967795391394
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.61502536689052,
+                    -0.5349171326147737,
+                    0.5793163723876357
+                ],
+                [
+                    -0.7480918448734323,
+                    -0.16364501176275167,
+                    0.6431010043212756
+                ],
+                [
+                    -0.24920351063948862,
+                    -0.8289052849152051,
+                    -0.5008129779913822
+                ]
+            ],
+            "translation_vector": [
+                0.7346888569788541,
+                -0.28102995409430176,
+                0.24450284099318514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6193004276515767,
+                    -0.5382360135795208,
+                    0.5716370999126982
+                ],
+                [
+                    -0.7421462033228494,
+                    -0.16363078275361898,
+                    0.6499569061321817
+                ],
+                [
+                    -0.2562927880453408,
+                    -0.8267568933014492,
+                    -0.5007864277059454
+                ]
+            ],
+            "translation_vector": [
+                0.7348553485639597,
+                -0.27441526082604567,
+                0.2418824900889427
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6239466033951484,
+                    -0.5405554041249262,
+                    0.5643496178637811
+                ],
+                [
+                    -0.7359404091451641,
+                    -0.1635612789314361,
+                    0.6569927109348793
+                ],
+                [
+                    -0.2628352151042673,
+                    -0.8252560591147763,
+                    -0.49987006971356346
+                ]
+            ],
+            "translation_vector": [
+                0.7348492433124818,
+                -0.2681787248451865,
+                0.23978613195867243
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6265872936103963,
+                    -0.5489440569387773,
+                    0.5532167620721519
+                ],
+                [
+                    -0.7295689134577265,
+                    -0.16352005239211193,
+                    0.6640710752485712
+                ],
+                [
+                    -0.27407583622441395,
+                    -0.8197082498165293,
+                    -0.5029521062493036
+                ]
+            ],
+            "translation_vector": [
+                0.7343852340795846,
+                -0.2599834993056495,
+                0.23501168006261183
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6285523705669323,
+                    -0.55301596039393,
+                    0.5468960275996428
+                ],
+                [
+                    -0.7254695200550599,
+                    -0.16337852967573074,
+                    0.668581656577622
+                ],
+                [
+                    -0.28038525803931086,
+                    -0.8169949838221625,
+                    -0.5038881854971928
+                ]
+            ],
+            "translation_vector": [
+                0.7339837146367535,
+                -0.254653985385746,
+                0.23227477041777606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6320840041622532,
+                    -0.5565770290864684,
+                    0.5391584390283556
+                ],
+                [
+                    -0.7200273436992888,
+                    -0.16468432084693735,
+                    0.6741214273352607
+                ],
+                [
+                    -0.28640955990950934,
+                    -0.8143101897682868,
+                    -0.504845004760845
+                ]
+            ],
+            "translation_vector": [
+                0.7331570265111017,
+                -0.2478257021710359,
+                0.22903319333558675
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6329329510337413,
+                    -0.5605914260044191,
+                    0.5339785881344421
+                ],
+                [
+                    -0.7173338204216418,
+                    -0.16516535801178428,
+                    0.676869702817412
+                ],
+                [
+                    -0.2912525872417479,
+                    -0.8114540391193894,
+                    -0.5066697867663089
+                ]
+            ],
+            "translation_vector": [
+                0.73223526108354,
+                -0.24260299331318688,
+                0.22577399344219246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6333833049544064,
+                    -0.5633875459082102,
+                    0.530490397764708
+                ],
+                [
+                    -0.7151064785012503,
+                    -0.16416126100761233,
+                    0.6794658231213189
+                ],
+                [
+                    -0.29571660996733756,
+                    -0.8097194288763949,
+                    -0.506859086028366
+                ]
+            ],
+            "translation_vector": [
+                0.7319409613108898,
+                -0.2388219056709098,
+                0.22388425208492663
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6351943522548524,
+                    -0.5655196029928122,
+                    0.5260377491153942
+                ],
+                [
+                    -0.711800531169076,
+                    -0.16427330965412162,
+                    0.6829013717680631
+                ],
+                [
+                    -0.2997801505953315,
+                    -0.8082090437294879,
+                    -0.5068826323153192
+                ]
+            ],
+            "translation_vector": [
+                0.7311132826717572,
+                -0.23324785200900527,
+                0.22129807087017994
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.635056692273222,
+                    -0.5687014867354284,
+                    0.5227634422794957
+                ],
+                [
+                    -0.7105174401505076,
+                    -0.1645050446292178,
+                    0.684180573776769
+                ],
+                [
+                    -0.303097286099635,
+                    -0.805925994912965,
+                    -0.5085423540695343
+                ]
+            ],
+            "translation_vector": [
+                0.7299558767533206,
+                -0.22827706739910633,
+                0.2180604999975102
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6352085389989623,
+                    -0.5701704904715964,
+                    0.5209757420246963
+                ],
+                [
+                    -0.7095386806730997,
+                    -0.1643676589998482,
+                    0.6852285263352561
+                ],
+                [
+                    -0.30506552183339414,
+                    -0.8049154517527222,
+                    -0.5089657580999238
+                ]
+            ],
+            "translation_vector": [
+                0.7293447262597381,
+                -0.22457554738546573,
+                0.2160894478409314
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6352445057694094,
+                    -0.5711849863106372,
+                    0.5198193237107447
+                ],
+                [
+                    -0.7089238922814619,
+                    -0.16421098832290976,
+                    0.6859020821272636
+                ],
+                [
+                    -0.30641692649441066,
+                    -0.8042278674152806,
+                    -0.5092408118271634
+                ]
+            ],
+            "translation_vector": [
+                0.7288178375542229,
+                -0.22160053630264798,
+                0.21451533470902884
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6343047813792233,
+                    -0.5739821769658218,
+                    0.5178821341241964
+                ],
+                [
+                    -0.7084549480308793,
+                    -0.16344478213082242,
+                    0.6865692898788675
+                ],
+                [
+                    -0.3094334030611761,
+                    -0.8023903437353819,
+                    -0.5103143201500383
+                ]
+            ],
+            "translation_vector": [
+                0.728147868089148,
+                -0.21663331248616569,
+                0.21169364659778678
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6334186471568773,
+                    -0.5760339363381528,
+                    0.5166872570721333
+                ],
+                [
+                    -0.7082601759695663,
+                    -0.16262880602953828,
+                    0.6869638961291681
+                ],
+                [
+                    -0.31168628550116045,
+                    -0.8010847493468968,
+                    -0.5109940154192703
+                ]
+            ],
+            "translation_vector": [
+                0.7279072619363176,
+                -0.2125797968258565,
+                0.20965125674961926
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6316372561063883,
+                    -0.5782885666157628,
+                    0.5163494073007923
+                ],
+                [
+                    -0.7088568279170976,
+                    -0.16109230608486644,
+                    0.6867104676904016
+                ],
+                [
+                    -0.3139368952730837,
+                    -0.7997697185076129,
+                    -0.5116757011472702
+                ]
+            ],
+            "translation_vector": [
+                0.7280502471234229,
+                -0.2087663616529594,
+                0.20776203166348128
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6287137383875019,
+                    -0.5800923305645237,
+                    0.5178918064451603
+                ],
+                [
+                    -0.711384045482009,
+                    -0.16005167424729705,
+                    0.6843363218508048
+                ],
+                [
+                    -0.3140888011318825,
+                    -0.7986716156161158,
+                    -0.5132951153212745
+                ]
+            ],
+            "translation_vector": [
+                0.7283617165759371,
+                -0.20513545845241327,
+                0.20565698578728522
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6261414245019558,
+                    -0.5766516292612675,
+                    0.5248045493257343
+                ],
+                [
+                    -0.7175275426537778,
+                    -0.16275029405982822,
+                    0.6772492652758438
+                ],
+                [
+                    -0.3051247975106129,
+                    -0.8006155383539374,
+                    -0.5156681274718676
+                ]
+            ],
+            "translation_vector": [
+                0.7293418929376811,
+                -0.20237476071845587,
+                0.20437073625244895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6230194370163084,
+                    -0.5720834996413897,
+                    0.5334484516220315
+                ],
+                [
+                    -0.7245638181040802,
+                    -0.16513244651280912,
+                    0.669132683855102
+                ],
+                [
+                    -0.2947101195994462,
+                    -0.8034001148535858,
+                    -0.5173917286340455
+                ]
+            ],
+            "translation_vector": [
+                0.7309340736067095,
+                -0.1997834091932661,
+                0.20363457225916765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6149574146725277,
+                    -0.5720486156785454,
+                    0.542759393690741
+                ],
+                [
+                    -0.7321720742355098,
+                    -0.15861224888247824,
+                    0.6623942996540009
+                ],
+                [
+                    -0.2928334541150519,
+                    -0.8047375570984014,
+                    -0.5163778000130768
+                ]
+            ],
+            "translation_vector": [
+                0.7334776781977206,
+                -0.1969071966056998,
+                0.20286291658817374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6091598830814584,
+                    -0.5730942498903405,
+                    0.5481671438410113
+                ],
+                [
+                    -0.7369629080677672,
+                    -0.1537574559044246,
+                    0.6582129722864012
+                ],
+                [
+                    -0.2929332841731779,
+                    -0.8049357896729571,
+                    -0.5160120788577428
+                ]
+            ],
+            "translation_vector": [
+                0.7348574961961479,
+                -0.1957921089228956,
+                0.20225234815972842
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6014156975428188,
+                    -0.5758393935322669,
+                    0.5538123794259893
+                ],
+                [
+                    -0.7431506359103913,
+                    -0.1487274094579554,
+                    0.652385844437099
+                ],
+                [
+                    -0.2933023884919212,
+                    -0.8039211096446697,
+                    -0.5173824101886508
+                ]
+            ],
+            "translation_vector": [
+                0.7366094346759786,
+                -0.19498603928451658,
+                0.20117412789902445
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5906465625653924,
+                    -0.5785120978383462,
+                    0.5625481230831384
+                ],
+                [
+                    -0.751186981997214,
+                    -0.13958426561822093,
+                    0.6451622670845991
+                ],
+                [
+                    -0.29471130994178635,
+                    -0.8036417021574341,
+                    -0.5170157234996811
+                ]
+            ],
+            "translation_vector": [
+                0.7396080781907197,
+                -0.19403280675747273,
+                0.20059585821728707
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5842348284011828,
+                    -0.5789203895856111,
+                    0.5687889308039366
+                ],
+                [
+                    -0.7565019052332331,
+                    -0.13467103372324937,
+                    0.6399754526967424
+                ],
+                [
+                    -0.29389544511871785,
+                    -0.8041858586160019,
+                    -0.5166338859777928
+                ]
+            ],
+            "translation_vector": [
+                0.7418577327209713,
+                -0.1930038688740668,
+                0.2004892489125773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5755555715692162,
+                    -0.5829952090724739,
+                    0.5734565111969477
+                ],
+                [
+                    -0.7624733970511786,
+                    -0.12910964652945497,
+                    0.6340071119177407
+                ],
+                [
+                    -0.29558434130526634,
+                    -0.8021516598322175,
+                    -0.5188281139294113
+                ]
+            ],
+            "translation_vector": [
+                0.7440568096495003,
+                -0.19323065971066475,
+                0.19967642318799192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5623241133425877,
+                    -0.5904810406029134,
+                    0.5788987236485956
+                ],
+                [
+                    -0.7703950985388885,
+                    -0.11971613303055993,
+                    0.6262263485669262
+                ],
+                [
+                    -0.30047126934322477,
+                    -0.7981229154589597,
+                    -0.5222229678198399
+                ]
+            ],
+            "translation_vector": [
+                0.7473181862997605,
+                -0.19402712232392344,
+                0.1984518434476456
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5561335994208663,
+                    -0.5933952606191732,
+                    0.581891299359163
+                ],
+                [
+                    -0.7742957081298476,
+                    -0.11555188473901334,
+                    0.6221847943376303
+                ],
+                [
+                    -0.30196287183508014,
+                    -0.796573804871818,
+                    -0.5237256891017908
+                ]
+            ],
+            "translation_vector": [
+                0.7496155251580283,
+                -0.1940959688087628,
+                0.19826667544983972
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5491678364308827,
+                    -0.5966143625209999,
+                    0.5852059379940404
+                ],
+                [
+                    -0.7776892846286563,
+                    -0.10846160835848154,
+                    0.619221653437653
+                ],
+                [
+                    -0.30596415476913724,
+                    -0.7951650029685365,
+                    -0.5235442235861791
+                ]
+            ],
+            "translation_vector": [
+                0.7518646493052772,
+                -0.19482089294308053,
+                0.1984538029061224
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5418959037746673,
+                    -0.600328610610013,
+                    0.5881788747951494
+                ],
+                [
+                    -0.7809018535183236,
+                    -0.10092196309926459,
+                    0.6164471206322871
+                ],
+                [
+                    -0.310710676745881,
+                    -0.7933601430921787,
+                    -0.5234869231498286
+                ]
+            ],
+            "translation_vector": [
+                0.7542100681906204,
+                -0.19568495841207084,
+                0.19863376874979244
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5403423959780472,
+                    -0.6021789462565061,
+                    0.5877164382541188
+                ],
+                [
+                    -0.7817143920119726,
+                    -0.1007835895428603,
+                    0.6154390931686163
+                ],
+                [
+                    -0.31137229232874214,
+                    -0.7919742323865472,
+                    -0.5251895951041721
+                ]
+            ],
+            "translation_vector": [
+                0.7556569255889065,
+                -0.1950654659373631,
+                0.19857358243976075
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5399600659184262,
+                    -0.6032624241617291,
+                    0.5869561949650786
+                ],
+                [
+                    -0.7824180114406282,
+                    -0.10269031421439442,
+                    0.6142285850885175
+                ],
+                [
+                    -0.3102663091388786,
+                    -0.7909040061607118,
+                    -0.5274520551218611
+                ]
+            ],
+            "translation_vector": [
+                0.7567314907644616,
+                -0.19442235200249075,
+                0.1984275466517921
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.539149872096121,
+                    -0.6040538021366394,
+                    0.5868870585922014
+                ],
+                [
+                    -0.7840336333323095,
+                    -0.105485602531515,
+                    0.6116895041295873
+                ],
+                [
+                    -0.30758523570300583,
+                    -0.7899315108177626,
+                    -0.530471046330234
+                ]
+            ],
+            "translation_vector": [
+                0.75804024204809,
+                -0.19386571873027134,
+                0.19826395725652807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5387647686133831,
+                    -0.6040928460734498,
+                    0.5872004405855357
+                ],
+                [
+                    -0.7857150888524914,
+                    -0.10883479283300979,
+                    0.6089390667534129
+                ],
+                [
+                    -0.3039478956178007,
+                    -0.7894471617479382,
+                    -0.5332812162055169
+                ]
+            ],
+            "translation_vector": [
+                0.7588914708974683,
+                -0.193288430692924,
+                0.19799367492850736
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5378962644032936,
+                    -0.6036425822832547,
+                    0.5884583601202261
+                ],
+                [
+                    -0.7885521417945421,
+                    -0.11345880047935542,
+                    0.6044109696762839
+                ],
+                [
+                    -0.29808241882442876,
+                    -0.7891405029829538,
+                    -0.5370327160793728
+                ]
+            ],
+            "translation_vector": [
+                0.7596954793131698,
+                -0.1930955887949981,
+                0.19756601943956612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5332035066207036,
+                    -0.60544935961067,
+                    0.5908680846639245
+                ],
+                [
+                    -0.7929510805113059,
+                    -0.1142710149269723,
+                    0.5984736577857978
+                ],
+                [
+                    -0.2948263971277637,
+                    -0.787637739125411,
+                    -0.5410214297623273
+                ]
+            ],
+            "translation_vector": [
+                0.7610721138732426,
+                -0.19358829004352418,
+                0.19692162372303565
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5298492426744539,
+                    -0.6080538578178831,
+                    0.5912108642693377
+                ],
+                [
+                    -0.7945434647911174,
+                    -0.11211727921653307,
+                    0.5967666195916194
+                ],
+                [
+                    -0.2965812917144883,
+                    -0.7859390699627239,
+                    -0.5425304744538266
+                ]
+            ],
+            "translation_vector": [
+                0.7618016605505341,
+                -0.19348256818090548,
+                0.19640075912415178
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5281634993114851,
+                    -0.6102962429128962,
+                    0.5904081756560033
+                ],
+                [
+                    -0.7953990607884616,
+                    -0.112144679547527,
+                    0.595620604870261
+                ],
+                [
+                    -0.29729388169264437,
+                    -0.7841951713289146,
+                    -0.5446597847946314
+                ]
+            ],
+            "translation_vector": [
+                0.7620538744335794,
+                -0.1932331503043801,
+                0.1957017766573556
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5258060497238085,
+                    -0.6126025383078638,
+                    0.5901238244068832
+                ],
+                [
+                    -0.7969573688912847,
+                    -0.11231708893103191,
+                    0.5935013257811136
+                ],
+                [
+                    -0.297299428596364,
+                    -0.7823701180341825,
+                    -0.5472751119532613
+                ]
+            ],
+            "translation_vector": [
+                0.7624884512555785,
+                -0.19338643083131185,
+                0.19501954278289904
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5237144345750222,
+                    -0.6144122415446599,
+                    0.5901023542215635
+                ],
+                [
+                    -0.7978807576509788,
+                    -0.1110431906689713,
+                    0.5924995412456915
+                ],
+                [
+                    -0.2985121230169141,
+                    -0.7811318757073746,
+                    -0.5483826266082962
+                ]
+            ],
+            "translation_vector": [
+                0.7631597522742413,
+                -0.1934317711559487,
+                0.19482820133417458
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5191832480159547,
+                    -0.618252582841512,
+                    0.5900953302555468
+                ],
+                [
+                    -0.7987293911718929,
+                    -0.10531890484769252,
+                    0.5924012896338593
+                ],
+                [
+                    -0.3041054334565247,
+                    -0.7788913095493374,
+                    -0.5484963201797595
+                ]
+            ],
+            "translation_vector": [
+                0.7640115096573376,
+                -0.19390486334960186,
+                0.19458542004423685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.513493226936749,
+                    -0.6225665786896475,
+                    0.5905383653825986
+                ],
+                [
+                    -0.8008658721032428,
+                    -0.1005894551644753,
+                    0.5903351729399381
+                ],
+                [
+                    -0.3081210164698231,
+                    -0.7760751359297509,
+                    -0.5502443299128323
+                ]
+            ],
+            "translation_vector": [
+                0.7651426102685879,
+                -0.19460627885817994,
+                0.19405606112923765
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5118510492046809,
+                    -0.6243711623547544,
+                    0.5900586030623062
+                ],
+                [
+                    -0.8014524842844515,
+                    -0.09974397356351834,
+                    0.5896821645361516
+                ],
+                [
+                    -0.3093257487865314,
+                    -0.7747333679128149,
+                    -0.5514578767051194
+                ]
+            ],
+            "translation_vector": [
+                0.7657521812144691,
+                -0.19461777798044527,
+                0.19386485322943117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5100091504921754,
+                    -0.6259955094560443,
+                    0.5899324440604341
+                ],
+                [
+                    -0.8023638053656611,
+                    -0.09904642330484353,
+                    0.5885593681776322
+                ],
+                [
+                    -0.31000482295181375,
+                    -0.7735111041034806,
+                    -0.5527907213179589
+                ]
+            ],
+            "translation_vector": [
+                0.7667224895787076,
+                -0.1946118341470623,
+                0.19385209449015192
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5091677063962599,
+                    -0.6268716418781156,
+                    0.5897289134612684
+                ],
+                [
+                    -0.8034365277224138,
+                    -0.10050502567683105,
+                    0.5868462198353595
+                ],
+                [
+                    -0.3086065337683628,
+                    -0.7726128942897185,
+                    -0.5548254886833707
+                ]
+            ],
+            "translation_vector": [
+                0.7676648842193212,
+                -0.19438187334250107,
+                0.19383626305845864
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5089961928742458,
+                    -0.6271032616411403,
+                    0.5896307105965285
+                ],
+                [
+                    -0.8038523828964225,
+                    -0.10135011725625949,
+                    0.586130958271175
+                ],
+                [
+                    -0.3078054940238512,
+                    -0.7723144780276918,
+                    -0.5556852750231438
+                ]
+            ],
+            "translation_vector": [
+                0.7680342497106374,
+                -0.1941894935042294,
+                0.19383695340047707
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5084388527449519,
+                    -0.6274901355113406,
+                    0.5896999769843616
+                ],
+                [
+                    -0.804528785343267,
+                    -0.10204303703567981,
+                    0.5850817482596962
+                ],
+                [
+                    -0.30695824890933393,
+                    -0.7719088990473516,
+                    -0.5567165212188525
+                ]
+            ],
+            "translation_vector": [
+                0.7683853143785168,
+                -0.19413560558201892,
+                0.19377266539075552
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5073382454772116,
+                    -0.62791849085489,
+                    0.590191726067574
+                ],
+                [
+                    -0.8055473378911869,
+                    -0.10228699822403468,
+                    0.5836358936963513
+                ],
+                [
+                    -0.3061068295424439,
+                    -0.7715281840845698,
+                    -0.5577121749349206
+                ]
+            ],
+            "translation_vector": [
+                0.7688537194995073,
+                -0.1942859638262465,
+                0.19376976069476348
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5065225513734655,
+                    -0.6281431535845278,
+                    0.5906530991665068
+                ],
+                [
+                    -0.8062351650929874,
+                    -0.10221169094307811,
+                    0.5826985745666794
+                ],
+                [
+                    -0.30564646819094476,
+                    -0.7713552675903892,
+                    -0.5582036256089355
+                ]
+            ],
+            "translation_vector": [
+                0.7691092300490241,
+                -0.1944879834437649,
+                0.1937743879352351
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5054231177443104,
+                    -0.6286156793055739,
+                    0.5910920400249127
+                ],
+                [
+                    -0.807289455009009,
+                    -0.10260502384903088,
+                    0.5811677424910965
+                ],
+                [
+                    -0.3046821423727989,
+                    -0.7709179831941474,
+                    -0.5593337602067212
+                ]
+            ],
+            "translation_vector": [
+                0.7693063435304088,
+                -0.19488470205364983,
+                0.19360423976798496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5033884917084743,
+                    -0.6299579319842835,
+                    0.5913992140217573
+                ],
+                [
+                    -0.8084449562884571,
+                    -0.10179490530811508,
+                    0.5797021217013671
+                ],
+                [
+                    -0.3049865227632561,
+                    -0.7699290884123011,
+                    -0.5605286966332598
+                ]
+            ],
+            "translation_vector": [
+                0.7694760099263775,
+                -0.19566333865318397,
+                0.1933058871358459
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5031366827641848,
+                    -0.630764134161038,
+                    0.5907538281832193
+                ],
+                [
+                    -0.808328859889524,
+                    -0.10167055395575388,
+                    0.5798858100764606
+                ],
+                [
+                    -0.3057089019422807,
+                    -0.7692851912746057,
+                    -0.5610190386776895
+                ]
+            ],
+            "translation_vector": [
+                0.7693529768173013,
+                -0.1957073088876754,
+                0.19306773831694207
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5022441993257829,
+                    -0.6320118500296108,
+                    0.5901794520870344
+                ],
+                [
+                    -0.8079717350121796,
+                    -0.09980467287987005,
+                    0.5807070713300733
+                ],
+                [
+                    -0.30811108332062925,
+                    -0.7685050739542916,
+                    -0.5607740290362041
+                ]
+            ],
+            "translation_vector": [
+                0.7693746752791445,
+                -0.19594220401974355,
+                0.19299140426715433
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.49791653874913044,
+                    -0.636658071716471,
+                    0.5888511018571251
+                ],
+                [
+                    -0.8064981711720551,
+                    -0.090323449031177,
+                    0.5842964782122536
+                ],
+                [
+                    -0.31881000664379383,
+                    -0.7658382167751732,
+                    -0.558437109610748
+                ]
+            ],
+            "translation_vector": [
+                0.7698021822179162,
+                -0.19751708960494485,
+                0.193214214240545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.497671008939329,
+                    -0.6377730058508039,
+                    0.5878513076189771
+                ],
+                [
+                    -0.8046120850134812,
+                    -0.08635790727574835,
+                    0.5874876207216732
+                ],
+                [
+                    -0.3239181370525113,
+                    -0.7653678232451271,
+                    -0.556137694846741
+                ]
+            ],
+            "translation_vector": [
+                0.7699674049152322,
+                -0.19847033917977605,
+                0.19387223850792984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5002030738737094,
+                    -0.6362650064193878,
+                    0.5873361273524969
+                ],
+                [
+                    -0.802927816543561,
+                    -0.08686148388607073,
+                    0.589713493179272
+                ],
+                [
+                    -0.32419717196157294,
+                    -0.7665650163053659,
+                    -0.5543232535884383
+                ]
+            ],
+            "translation_vector": [
+                0.7699146475707502,
+                -0.19883313348017972,
+                0.1947077073466257
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5046201206725636,
+                    -0.6335395770002189,
+                    0.5865033147278803
+                ],
+                [
+                    -0.7984672488908048,
+                    -0.08411208782811443,
+                    0.5961335497436336
+                ],
+                [
+                    -0.32834217862034876,
+                    -0.7691246719847045,
+                    -0.5483052550206532
+                ]
+            ],
+            "translation_vector": [
+                0.7702656396406391,
+                -0.19993521943678724,
+                0.1971139766357851
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5090038389497987,
+                    -0.6320121149314183,
+                    0.5843592888919307
+                ],
+                [
+                    -0.7932139492918842,
+                    -0.08077704689481052,
+                    0.6035616781603399
+                ],
+                [
+                    -0.33425547502343084,
+                    -0.7707371505739613,
+                    -0.542436652653553
+                ]
+            ],
+            "translation_vector": [
+                0.7703387472445112,
+                -0.20063859774334722,
+                0.1991411533546883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5150355676181493,
+                    -0.630296248063363,
+                    0.5809173811872895
+                ],
+                [
+                    -0.7860655352017631,
+                    -0.07704602652064291,
+                    0.6133228221461734
+                ],
+                [
+                    -0.34181769769310794,
+                    -0.7725221999882129,
+                    -0.5351356015713729
+                ]
+            ],
+            "translation_vector": [
+                0.7702621575027963,
+                -0.20137832159056138,
+                0.2015967852774902
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5215222389525995,
+                    -0.628868916262107,
+                    0.5766614608565334
+                ],
+                [
+                    -0.77630496531228,
+                    -0.06926492106401617,
+                    0.6265404787733156
+                ],
+                [
+                    -0.3540694213136285,
+                    -0.774419948651453,
+                    -0.5243172589390067
+                ]
+            ],
+            "translation_vector": [
+                0.770237526716022,
+                -0.20262976175491818,
+                0.20493324742520327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5258429670096715,
+                    -0.6282231630073692,
+                    0.573432499521506
+                ],
+                [
+                    -0.7686870047208111,
+                    -0.06235678185870396,
+                    0.6365782909662986
+                ],
+                [
+                    -0.3641558221693197,
+                    -0.7755303277224188,
+                    -0.5156968566541243
+                ]
+            ],
+            "translation_vector": [
+                0.7706911240417929,
+                -0.20426225121362276,
+                0.20790121837647532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5338345143528903,
+                    -0.6258816768422448,
+                    0.5685884609089018
+                ],
+                [
+                    -0.7575884024076235,
+                    -0.05532372948969974,
+                    0.6503838078341244
+                ],
+                [
+                    -0.37560687403597726,
+                    -0.7779533479254978,
+                    -0.5036944159194453
+                ]
+            ],
+            "translation_vector": [
+                0.7710990904585153,
+                -0.206354047403241,
+                0.21225586011671524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5439185270009289,
+                    -0.6215890667590194,
+                    0.5637194941376349
+                ],
+                [
+                    -0.7434030102714898,
+                    -0.045331195336279204,
+                    0.6673058122395391
+                ],
+                [
+                    -0.3892359185692228,
+                    -0.7820307633431279,
+                    -0.4867476603750015
+                ]
+            ],
+            "translation_vector": [
+                0.7725884034541445,
+                -0.2108049381846426,
+                0.21931946757403914
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.551808448912027,
+                    -0.6174464634452608,
+                    0.5605954873955401
+                ],
+                [
+                    -0.7328072332398388,
+                    -0.038088799091150836,
+                    0.679369415189679
+                ],
+                [
+                    -0.39812183389092787,
+                    -0.7856902113191523,
+                    -0.47348695569845456
+                ]
+            ],
+            "translation_vector": [
+                0.7736912309070504,
+                -0.21289111195468066,
+                0.22455604087474987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5623793591278035,
+                    -0.6120271877098203,
+                    0.5560145483087734
+                ],
+                [
+                    -0.7202500217225871,
+                    -0.03227986857752244,
+                    0.6929631420885461
+                ],
+                [
+                    -0.40616420649241575,
+                    -0.790177658244414,
+                    -0.4589661270461687
+                ]
+            ],
+            "translation_vector": [
+                0.7745715123887236,
+                -0.21562997123284836,
+                0.2307062229250928
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5764279703062697,
+                    -0.6020379431466009,
+                    0.5525224973341855
+                ],
+                [
+                    -0.7072572872799494,
+                    -0.02890219745532943,
+                    0.7063651977353221
+                ],
+                [
+                    -0.4092895364384508,
+                    -0.7979442198512775,
+                    -0.4424557575260317
+                ]
+            ],
+            "translation_vector": [
+                0.7753254499738702,
+                -0.21894007237614266,
+                0.23829817706115217
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.5916619177102048,
+                    -0.5907160507181326,
+                    0.5486262138792274
+                ],
+                [
+                    -0.6951290005241535,
+                    -0.029127464170829745,
+                    0.7182946912384001
+                ],
+                [
+                    -0.40832811287220294,
+                    -0.8063536062143889,
+                    -0.427857469238619
+                ]
+            ],
+            "translation_vector": [
+                0.7759657940281195,
+                -0.22104822138972052,
+                0.2456006849296238
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6091283439026122,
+                    -0.5784001823215787,
+                    0.5426010410465739
+                ],
+                [
+                    -0.6806115402804173,
+                    -0.030049503268946696,
+                    0.7320279766446142
+                ],
+                [
+                    -0.4071002233990782,
+                    -0.8151995194083803,
+                    -0.4119698431496735
+                ]
+            ],
+            "translation_vector": [
+                0.7762277873485364,
+                -0.2218052607421212,
+                0.25312092379179296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6348826655836757,
+                    -0.5611998778713675,
+                    0.5310166645393807
+                ],
+                [
+                    -0.657106701644386,
+                    -0.030718262190302832,
+                    0.7531714087922111
+                ],
+                [
+                    -0.4063677935016538,
+                    -0.8271100806090871,
+                    -0.3882706928927641
+                ]
+            ],
+            "translation_vector": [
+                0.7757667267797645,
+                -0.22235368869352037,
+                0.26375464202065685
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6531022528563525,
+                    -0.5508793069377883,
+                    0.5196050774402604
+                ],
+                [
+                    -0.6383122611882738,
+                    -0.031283240854024515,
+                    0.7691416098862303
+                ],
+                [
+                    -0.4074492662046034,
+                    -0.8339984100880594,
+                    -0.3720641711317
+                ]
+            ],
+            "translation_vector": [
+                0.7748376125570012,
+                -0.22258362016778216,
+                0.2708956391105545
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.6686964648394869,
+                    -0.5447159032810311,
+                    0.5060925040186859
+                ],
+                [
+                    -0.6201255543793832,
+                    -0.03303952225592928,
+                    0.7838065365731284
+                ],
+                [
+                    -0.41023083101692376,
+                    -0.8379695547463708,
+                    -0.3598856632339413
+                ]
+            ],
+            "translation_vector": [
+                0.7734235306749463,
+                -0.2218970697098347,
+                0.27601819591327126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.692132057806821,
+                    -0.5339499859683616,
+                    0.4856445480394916
+                ],
+                [
+                    -0.5970390451824596,
+                    -0.04544533412828615,
+                    0.8009239040842678
+                ],
+                [
+                    -0.40558302859428497,
+                    -0.8442938671400823,
+                    -0.3502431624256676
+                ]
+            ],
+            "translation_vector": [
+                0.7710147026265977,
+                -0.22048681839058112,
+                0.2823860229150485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7104812713546078,
+                    -0.5278062937360023,
+                    0.4654426703118285
+                ],
+                [
+                    -0.5771375681044648,
+                    -0.0585868420477382,
+                    0.814542699569113
+                ],
+                [
+                    -0.40265194714145475,
+                    -0.8473417835982944,
+                    -0.3462416948197557
+                ]
+            ],
+            "translation_vector": [
+                0.7687530012347021,
+                -0.21809546805830213,
+                0.2862970657311233
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7286264718469869,
+                    -0.5196021772069321,
+                    0.4462253264502453
+                ],
+                [
+                    -0.5575252835547007,
+                    -0.07152961351720463,
+                    0.8270725920905191
+                ],
+                [
+                    -0.39783039441584017,
+                    -0.8514088863947189,
+                    -0.341809721112554
+                ]
+            ],
+            "translation_vector": [
+                0.7665835443717293,
+                -0.21504828501693662,
+                0.2903530485150349
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.74778782767607,
+                    -0.5123444913494872,
+                    0.4222753686438979
+                ],
+                [
+                    -0.5350738832355794,
+                    -0.08850356158230728,
+                    0.8401565681862189
+                ],
+                [
+                    -0.39307671548783235,
+                    -0.8542073763267806,
+                    -0.3403240425979566
+                ]
+            ],
+            "translation_vector": [
+                0.7637718346832786,
+                -0.21119668630099014,
+                0.29384300129916074
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7628197412639435,
+                    -0.5059410539653618,
+                    0.4026533152110258
+                ],
+                [
+                    -0.5162164406144678,
+                    -0.1015036199871398,
+                    0.8504220138077543
+                ],
+                [
+                    -0.38939264088749864,
+                    -0.8565749617178439,
+                    -0.338604055174675
+                ]
+            ],
+            "translation_vector": [
+                0.7613482458883708,
+                -0.2074303231024215,
+                0.29653741729230265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7787580710548997,
+                    -0.4976305380555352,
+                    0.38196821119225444
+                ],
+                [
+                    -0.49442827221170277,
+                    -0.11213231421039821,
+                    0.8619553513654701
+                ],
+                [
+                    -0.386104325804053,
+                    -0.8601105694644028,
+                    -0.3333665518479899
+                ]
+            ],
+            "translation_vector": [
+                0.7586941501313754,
+                -0.2029780681663469,
+                0.300051355962161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.7994513403527506,
+                    -0.48317639895656744,
+                    0.35695675074097566
+                ],
+                [
+                    -0.4667060476024238,
+                    -0.12542537443691923,
+                    0.8754735521868627
+                ],
+                [
+                    -0.37823672420788973,
+                    -0.8664923790424952,
+                    -0.32577283115963207
+                ]
+            ],
+            "translation_vector": [
+                0.7549889019051718,
+                -0.1973367345267415,
+                0.305074315558955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8103690698706829,
+                    -0.4746211961236367,
+                    0.34356468210090074
+                ],
+                [
+                    -0.4517763557474294,
+                    -0.13276680635626895,
+                    0.8821967464899932
+                ],
+                [
+                    -0.37309528941611775,
+                    -0.8701193569391075,
+                    -0.32201274772185323
+                ]
+            ],
+            "translation_vector": [
+                0.7528089667414917,
+                -0.19426151718304988,
+                0.3078031489651941
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8236320786979584,
+                    -0.4626889887523431,
+                    0.32794679237189445
+                ],
+                [
+                    -0.4338003940322289,
+                    -0.14151214889714617,
+                    0.8898266852887675
+                ],
+                [
+                    -0.3653045538686362,
+                    -0.875153250237835,
+                    -0.31726861099231146
+                ]
+            ],
+            "translation_vector": [
+                0.7499156912566096,
+                -0.19054626712878084,
+                0.3113297882039775
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8338178443638307,
+                    -0.45900859596611693,
+                    0.306690252942067
+                ],
+                [
+                    -0.41123076803572006,
+                    -0.1458235650182897,
+                    0.8997914999076778
+                ],
+                [
+                    -0.3682893669944963,
+                    -0.8763826770963532,
+                    -0.310348748095143
+                ]
+            ],
+            "translation_vector": [
+                0.7464358992028395,
+                -0.18628280456583365,
+                0.3139996639758241
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8384731392197282,
+                    -0.45933839709271607,
+                    0.293208171378815
+                ],
+                [
+                    -0.39704261682886055,
+                    -0.14640376976159264,
+                    0.9060480652930535
+                ],
+                [
+                    -0.373255884385906,
+                    -0.8761131052300777,
+                    -0.3051325476172711
+                ]
+            ],
+            "translation_vector": [
+                0.7439691056563067,
+                -0.18352600625776425,
+                0.31526613081076077
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8424798516393066,
+                    -0.4599942460856643,
+                    0.28041575053818474
+                ],
+                [
+                    -0.3845273633250864,
+                    -0.1488939830597326,
+                    0.9110265027225416
+                ],
+                [
+                    -0.3773147312736002,
+                    -0.8753490020424366,
+                    -0.3023205553501803
+                ]
+            ],
+            "translation_vector": [
+                0.7415430499599289,
+                -0.18113348283760533,
+                0.316126859542126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.849654086045707,
+                    -0.45618711385271743,
+                    0.26453969687092704
+                ],
+                [
+                    -0.3682460458935163,
+                    -0.15418544880637267,
+                    0.916854239811415
+                ],
+                [
+                    -0.377468917594051,
+                    -0.8764246485186876,
+                    -0.2989933974509642
+                ]
+            ],
+            "translation_vector": [
+                0.7386470944112838,
+                -0.17722936272542306,
+                0.3181894111859939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8540506669657291,
+                    -0.45271806557251376,
+                    0.2562104825327697
+                ],
+                [
+                    -0.3597170170289163,
+                    -0.1581941819433033,
+                    0.9195532983243047
+                ],
+                [
+                    -0.3757673827186334,
+                    -0.8775083782526355,
+                    -0.297956238701622
+                ]
+            ],
+            "translation_vector": [
+                0.7370533618799872,
+                -0.17484235884979415,
+                0.31959109178546047
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8589128037806236,
+                    -0.4486114660213587,
+                    0.2470152789927686
+                ],
+                [
+                    -0.3506208635905126,
+                    -0.16355772285305012,
+                    0.9221246560580451
+                ],
+                [
+                    -0.3732744372666725,
+                    -0.8786333842105547,
+                    -0.29777436194870216
+                ]
+            ],
+            "translation_vector": [
+                0.7351629421592578,
+                -0.17212796137605685,
+                0.3211607462765767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8655083159240914,
+                    -0.44378606485279637,
+                    0.23226985105414105
+                ],
+                [
+                    -0.33695309701278076,
+                    -0.17274290615828264,
+                    0.9255390314759753
+                ],
+                [
+                    -0.37061835556234757,
+                    -0.8793257741101762,
+                    -0.29904551076015307
+                ]
+            ],
+            "translation_vector": [
+                0.7322321755900092,
+                -0.16721552884255342,
+                0.3226078903806252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8698332108719183,
+                    -0.4393794782678407,
+                    0.22435654512701161
+                ],
+                [
+                    -0.3291349329350465,
+                    -0.1780628742774772,
+                    0.9273423363170076
+                ],
+                [
+                    -0.367505620618367,
+                    -0.8804767384100067,
+                    -0.29950013678258214
+                ]
+            ],
+            "translation_vector": [
+                0.7306298435884996,
+                -0.16392249603408912,
+                0.32378882577124973
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8753070829455203,
+                    -0.43304454631596556,
+                    0.21519742436052572
+                ],
+                [
+                    -0.3200846648896445,
+                    -0.18527762892650862,
+                    0.9290952628885023
+                ],
+                [
+                    -0.3624683680652541,
+                    -0.8821250597989896,
+                    -0.3007857394005587
+                ]
+            ],
+            "translation_vector": [
+                0.7285353584223128,
+                -0.15976590730331724,
+                0.3253738215106819
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8806387776813961,
+                    -0.42729940507329167,
+                    0.20467183897113927
+                ],
+                [
+                    -0.3091912651562629,
+                    -0.19098655818889987,
+                    0.9316248687869102
+                ],
+                [
+                    -0.3589931821008396,
+                    -0.883707730539441,
+                    -0.300307412812179
+                ]
+            ],
+            "translation_vector": [
+                0.72597934308851,
+                -0.1547372473241038,
+                0.3274706346445899
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8824973769229542,
+                    -0.4262973522212773,
+                    0.19866793202032765
+                ],
+                [
+                    -0.3043006289812879,
+                    -0.19546235083353686,
+                    0.9323066001097599
+                ],
+                [
+                    -0.3586077340572813,
+                    -0.8832129057570183,
+                    -0.30221756431178287
+                ]
+            ],
+            "translation_vector": [
+                0.7246454762125973,
+                -0.15082276451230583,
+                0.3281578670012834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8858812791790354,
+                    -0.42316749507073376,
+                    0.1901147819494243
+                ],
+                [
+                    -0.29606892463898166,
+                    -0.20021576477066977,
+                    0.9339469146586509
+                ],
+                [
+                    -0.3571519999429284,
+                    -0.8836531664928592,
+                    -0.30265414301461335
+                ]
+            ],
+            "translation_vector": [
+                0.7225420942509424,
+                -0.14623068083902727,
+                0.329342286762857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8887863781560461,
+                    -0.42084917053707527,
+                    0.1815068859920034
+                ],
+                [
+                    -0.28850083758557055,
+                    -0.20600376199658307,
+                    0.9350559965882684
+                ],
+                [
+                    -0.3561264392272533,
+                    -0.8834299212170207,
+                    -0.304508675708602
+                ]
+            ],
+            "translation_vector": [
+                0.7203563801285109,
+                -0.1413919899183717,
+                0.3304588020476778
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.891775972446849,
+                    -0.4177969470879834,
+                    0.1737277351790369
+                ],
+                [
+                    -0.2813983122449285,
+                    -0.21142674561659533,
+                    0.9360094663536694
+                ],
+                [
+                    -0.3543312078157701,
+                    -0.8835974435465148,
+                    -0.3061126474451541
+                ]
+            ],
+            "translation_vector": [
+                0.718317803635118,
+                -0.13685369588151833,
+                0.3315991446733944
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8951982821051674,
+                    -0.414111362977464,
+                    0.1647173784665857
+                ],
+                [
+                    -0.27270655053192533,
+                    -0.21666415026953784,
+                    0.9373834771772743
+                ],
+                [
+                    -0.3524927985263469,
+                    -0.8840635865371486,
+                    -0.30688825644872436
+                ]
+            ],
+            "translation_vector": [
+                0.7159564639107338,
+                -0.1319191597862502,
+                0.3328713665487806
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8983522409233454,
+                    -0.4112025060538472,
+                    0.15451779911401647
+                ],
+                [
+                    -0.26397418071762235,
+                    -0.2241876267745921,
+                    0.9381138203414533
+                ],
+                [
+                    -0.3511137752103497,
+                    -0.8835453621723178,
+                    -0.3099463015448388
+                ]
+            ],
+            "translation_vector": [
+                0.7134620692647823,
+                -0.12641855825684772,
+                0.3338996566931789
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9030448861589652,
+                    -0.404264370983499,
+                    0.14519039890935626
+                ],
+                [
+                    -0.2546623176436068,
+                    -0.23167197021449895,
+                    0.9388691081238745
+                ],
+                [
+                    -0.34591478365997713,
+                    -0.8848154703497496,
+                    -0.312161089623968
+                ]
+            ],
+            "translation_vector": [
+                0.7107129282743163,
+                -0.12066378997756483,
+                0.3355826581981278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9080351197094539,
+                    -0.3956432318531616,
+                    0.13761778396349314
+                ],
+                [
+                    -0.2458364146958622,
+                    -0.23731838043197956,
+                    0.9398108551823744
+                ],
+                [
+                    -0.33917057446618415,
+                    -0.8872127249977467,
+                    -0.3127569376022714
+                ]
+            ],
+            "translation_vector": [
+                0.7083676822912415,
+                -0.11577640248268006,
+                0.3375943650318811
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9127808839950307,
+                    -0.38742749439617097,
+                    0.12934834517362545
+                ],
+                [
+                    -0.2372785578165977,
+                    -0.24520092604686938,
+                    0.9399869104760095
+                ],
+                [
+                    -0.3324604394717151,
+                    -0.888693671886811,
+                    -0.31574295516228307
+                ]
+            ],
+            "translation_vector": [
+                0.7057366979551426,
+                -0.10908221969049264,
+                0.3393711316555927
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9150401226267183,
+                    -0.3839600902979277,
+                    0.12359701874109846
+                ],
+                [
+                    -0.23161161210506676,
+                    -0.24927626525553245,
+                    0.9403283494175562
+                ],
+                [
+                    -0.33023875472356706,
+                    -0.8890646729224262,
+                    -0.3170273998252628
+                ]
+            ],
+            "translation_vector": [
+                0.7041240288755375,
+                -0.10392152631315629,
+                0.34035425290657356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9178336626861407,
+                    -0.3796136173519096,
+                    0.11608130409821131
+                ],
+                [
+                    -0.22423517114330704,
+                    -0.2544979181061653,
+                    0.9407174909089122
+                ],
+                [
+                    -0.32756671940610094,
+                    -0.8894516913248441,
+                    -0.3187094807766145
+                ]
+            ],
+            "translation_vector": [
+                0.7021519821209457,
+                -0.09599577002181887,
+                0.3413769364541568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9173386772388198,
+                    -0.38158921366584364,
+                    0.11348754669837556
+                ],
+                [
+                    -0.22402102490112766,
+                    -0.2591300765373855,
+                    0.9395031579701995
+                ],
+                [
+                    -0.32909623462443505,
+                    -0.8872661807189611,
+                    -0.3231940483802369
+                ]
+            ],
+            "translation_vector": [
+                0.7018437682124662,
+                -0.09107624452687027,
+                0.340881011088402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9180991116548499,
+                    -0.3807543732379544,
+                    0.11009145488523787
+                ],
+                [
+                    -0.2214333128686514,
+                    -0.26236827440186533,
+                    0.9392178536098013
+                ],
+                [
+                    -0.32872680014046596,
+                    -0.8866729926233011,
+                    -0.32519178191007564
+                ]
+            ],
+            "translation_vector": [
+                0.7012342522068034,
+                -0.08663539407241239,
+                0.34106537801638126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9203575120512433,
+                    -0.37724181319953254,
+                    0.10310511328142262
+                ],
+                [
+                    -0.2144026602405146,
+                    -0.2662291891337081,
+                    0.9397624796378069
+                ],
+                [
+                    -0.3270681110910026,
+                    -0.8870234682504956,
+                    -0.3259076824504544
+                ]
+            ],
+            "translation_vector": [
+                0.7000021211453579,
+                -0.07757249418265291,
+                0.34211877706184635
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9206251573776034,
+                    -0.377051145122261,
+                    0.10139898207307023
+                ],
+                [
+                    -0.21323705207721005,
+                    -0.2679852853481612,
+                    0.9395285234937181
+                ],
+                [
+                    -0.3270768705134688,
+                    -0.8865756148230429,
+                    -0.3271152701667401
+                ]
+            ],
+            "translation_vector": [
+                0.6998484096009131,
+                -0.07408288845750104,
+                0.34218977366133574
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9219341297260428,
+                    -0.3751655195640594,
+                    0.09637579248189787
+                ],
+                [
+                    -0.20831122720350406,
+                    -0.2704485086961517,
+                    0.9399276763480253
+                ],
+                [
+                    -0.32656376569860684,
+                    -0.8866275639039526,
+                    -0.3274869002853222
+                ]
+            ],
+            "translation_vector": [
+                0.6990544936360414,
+                -0.06767403306546521,
+                0.34257116853630654
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9227057994196052,
+                    -0.37395037849553464,
+                    0.09367562191132688
+                ],
+                [
+                    -0.20654808365587893,
+                    -0.2743817798769375,
+                    0.9391765158955199
+                ],
+                [
+                    -0.32550252972213833,
+                    -0.8859321380865524,
+                    -0.33041239360816704
+                ]
+            ],
+            "translation_vector": [
+                0.6991688530738308,
+                -0.06192825079151584,
+                0.34258852311481597
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9233012566773874,
+                    -0.37267788816630815,
+                    0.09287615996507301
+                ],
+                [
+                    -0.20575618691700973,
+                    -0.2757586454187246,
+                    0.9389470491045822
+                ],
+                [
+                    -0.3243133992966211,
+                    -0.8860408349216929,
+                    -0.3312890850721457
+                ]
+            ],
+            "translation_vector": [
+                0.6995869830730039,
+                -0.058435878162909335,
+                0.343134401417987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9238816014636506,
+                    -0.3714873092090472,
+                    0.09186928525672895
+                ],
+                [
+                    -0.20423658647260157,
+                    -0.275638824997856,
+                    0.9393139277684651
+                ],
+                [
+                    -0.3236204616877306,
+                    -0.8865779250863534,
+                    -0.33052893901532565
+                ]
+            ],
+            "translation_vector": [
+                0.6997511358417833,
+                -0.055783694755848504,
+                0.34384868526254464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9249360605400534,
+                    -0.36907269605114057,
+                    0.09098697127715336
+                ],
+                [
+                    -0.2030118881273355,
+                    -0.2772537157117305,
+                    0.9391041211724148
+                ],
+                [
+                    -0.32137121400589275,
+                    -0.8870827031081047,
+                    -0.3313681044620881
+                ]
+            ],
+            "translation_vector": [
+                0.6999098404461019,
+                -0.05169872275384023,
+                0.3442442138775519
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9254661125200069,
+                    -0.368016057195744,
+                    0.0898702187779964
+                ],
+                [
+                    -0.20225761813654144,
+                    -0.27941155526162725,
+                    0.9386272096482243
+                ],
+                [
+                    -0.3203191072709198,
+                    -0.8868446112100911,
+                    -0.33301997700555963
+                ]
+            ],
+            "translation_vector": [
+                0.6998187236439402,
+                -0.04887555712443526,
+                0.3439103761309481
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9256172890417702,
+                    -0.3677763034419718,
+                    0.0892929160321425
+                ],
+                [
+                    -0.20265212505016988,
+                    -0.2823795408297295,
+                    0.9376534067199039
+                ],
+                [
+                    -0.319632211204714,
+                    -0.8860036035746978,
+                    -0.33590603449928574
+                ]
+            ],
+            "translation_vector": [
+                0.6999315646838824,
+                -0.04648567648598941,
+                0.34323624851202794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9253543812306406,
+                    -0.3687229846590358,
+                    0.08810578710499725
+                ],
+                [
+                    -0.20273305014563753,
+                    -0.28491986226173693,
+                    0.9368671103563192
+                ],
+                [
+                    -0.32034134843305057,
+                    -0.8847960401543882,
+                    -0.3384041781822583
+                ]
+            ],
+            "translation_vector": [
+                0.7002788413972181,
+                -0.04384233278851841,
+                0.34246333398271733
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9250962838386606,
+                    -0.3698123800143768,
+                    0.08623032654468096
+                ],
+                [
+                    -0.20190458743074485,
+                    -0.2867029843488146,
+                    0.9365019681452378
+                ],
+                [
+                    -0.32160752976620566,
+                    -0.8837647890437733,
+                    -0.33989468140012663
+                ]
+            ],
+            "translation_vector": [
+                0.7005873372148966,
+                -0.041643596083236374,
+                0.3418800844232308
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.924777973080411,
+                    -0.3710037270953551,
+                    0.08450996974702049
+                ],
+                [
+                    -0.20120083028383876,
+                    -0.288272771882457,
+                    0.9361714772862391
+                ],
+                [
+                    -0.32296118404288304,
+                    -0.8827542373008247,
+                    -0.3412345676057143
+                ]
+            ],
+            "translation_vector": [
+                0.700857980295199,
+                -0.040064820703420566,
+                0.34133661269956744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9251178265250493,
+                    -0.37101562523999976,
+                    0.08064994031827298
+                ],
+                [
+                    -0.1988234456362792,
+                    -0.2924296799421864,
+                    0.9353898223490716
+                ],
+                [
+                    -0.323459803547344,
+                    -0.8813808984296645,
+                    -0.3442985149146465
+                ]
+            ],
+            "translation_vector": [
+                0.7011092455010987,
+                -0.037600097654750114,
+                0.3406292883523163
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9258075355587333,
+                    -0.36967804234395146,
+                    0.07885779676993859
+                ],
+                [
+                    -0.19736147674950244,
+                    -0.2948265092584249,
+                    0.9349469380311098
+                ],
+                [
+                    -0.3223799847973209,
+                    -0.8811444118004925,
+                    -0.34591280831279364
+                ]
+            ],
+            "translation_vector": [
+                0.7014922242736081,
+                -0.03650884623458367,
+                0.340729676447566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.926310643817958,
+                    -0.36842284399849357,
+                    0.07882384899015002
+                ],
+                [
+                    -0.19697058874458687,
+                    -0.29521224038448807,
+                    0.9349076533523417
+                ],
+                [
+                    -0.3211715714679167,
+                    -0.8815408902298482,
+                    -0.34602670494283544
+                ]
+            ],
+            "translation_vector": [
+                0.7026823015424482,
+                -0.0361569753247383,
+                0.34173470910637327
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9274904495315572,
+                    -0.3645034129042937,
+                    0.08305858178943046
+                ],
+                [
+                    -0.19966858649996777,
+                    -0.29515395647843856,
+                    0.9343535720166262
+                ],
+                [
+                    -0.3160599968247397,
+                    -0.8831882041537047,
+                    -0.34653235700421914
+                ]
+            ],
+            "translation_vector": [
+                0.705415167331567,
+                -0.03740445397906824,
+                0.34411872227571066
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.927864575250595,
+                    -0.3620305788896176,
+                    0.08944937084117344
+                ],
+                [
+                    -0.2043942007549101,
+                    -0.2930856490583174,
+                    0.9339827691204088
+                ],
+                [
+                    -0.31191399566674605,
+                    -0.8848924580223937,
+                    -0.3459407420965214
+                ]
+            ],
+            "translation_vector": [
+                0.7084099919273653,
+                -0.040066466314345135,
+                0.34657486841559665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9280816202952339,
+                    -0.3597886321180449,
+                    0.09600336592432125
+                ],
+                [
+                    -0.20917074941145636,
+                    -0.2904012441003652,
+                    0.9337637361857707
+                ],
+                [
+                    -0.3080780804614679,
+                    -0.886690057248634,
+                    -0.344773314970273
+                ]
+            ],
+            "translation_vector": [
+                0.7109980905613581,
+                -0.042849848830689014,
+                0.3488268540267129
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9279466399131769,
+                    -0.3565609624495903,
+                    0.10853254595220281
+                ],
+                [
+                    -0.21918186909435355,
+                    -0.28652814366312074,
+                    0.9326633536004684
+                ],
+                [
+                    -0.3014537140825284,
+                    -0.8892501914230823,
+                    -0.3440345263485356
+                ]
+            ],
+            "translation_vector": [
+                0.7154281324548152,
+                -0.048701638748845144,
+                0.3522882075310849
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9276718357413759,
+                    -0.35445145822517776,
+                    0.11742712180016733
+                ],
+                [
+                    -0.22646975800068023,
+                    -0.2840600891611226,
+                    0.9316766147418798
+                ],
+                [
+                    -0.29687777600106685,
+                    -0.8908838473717103,
+                    -0.34378708034020156
+                ]
+            ],
+            "translation_vector": [
+                0.7182849775834446,
+                -0.053435763979854486,
+                0.35456358321580883
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9275631061594081,
+                    -0.3527312768317668,
+                    0.12331800532177871
+                ],
+                [
+                    -0.23105637959354455,
+                    -0.2820582548928718,
+                    0.9311584668013879
+                ],
+                [
+                    -0.2936658535496331,
+                    -0.8922016516412751,
+                    -0.3431276428204906
+                ]
+            ],
+            "translation_vector": [
+                0.7200016252141584,
+                -0.056808109766493385,
+                0.35620883657371843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9269860516117795,
+                    -0.3500689017923193,
+                    0.13471682936857945
+                ],
+                [
+                    -0.24118352960902428,
+                    -0.28120985161143347,
+                    0.9288441873651407
+                ],
+                [
+                    -0.28727576501079305,
+                    -0.8935170862130145,
+                    -0.34510846336024353
+                ]
+            ],
+            "translation_vector": [
+                0.723042173285886,
+                -0.06401811680615825,
+                0.3585184811676907
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9258168100580292,
+                    -0.3481660180765567,
+                    0.14711783736410053
+                ],
+                [
+                    -0.2524986183907827,
+                    -0.28006782565766647,
+                    0.9261784173376816
+                ],
+                [
+                    -0.2812608787668862,
+                    -0.8946185985592418,
+                    -0.3472029394852198
+                ]
+            ],
+            "translation_vector": [
+                0.7262279242375418,
+                -0.07104715699119843,
+                0.3607823544571156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9251522217089606,
+                    -0.346405726704341,
+                    0.15523027788872792
+                ],
+                [
+                    -0.25928184126621445,
+                    -0.27799262900151783,
+                    0.9249286594167284
+                ],
+                [
+                    -0.2772477113640001,
+                    -0.8959481964529322,
+                    -0.34700221298453165
+                ]
+            ],
+            "translation_vector": [
+                0.7280206760928579,
+                -0.07691261391974513,
+                0.3628855374936117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9251008035243893,
+                    -0.34340377298453606,
+                    0.16205663213369093
+                ],
+                [
+                    -0.26457750947210523,
+                    -0.2768035971932691,
+                    0.9237848830016674
+                ],
+                [
+                    -0.27237335552521874,
+                    -0.8974706776718957,
+                    -0.34692814518150744
+                ]
+            ],
+            "translation_vector": [
+                0.7287087657715771,
+                -0.0832984274113196,
+                0.3651098224952948
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9252749011129494,
+                    -0.34100089511018106,
+                    0.16608656449116294
+                ],
+                [
+                    -0.2676748989017927,
+                    -0.27681254310511744,
+                    0.9228894649293559
+                ],
+                [
+                    -0.26873128933627544,
+                    -0.8983836627598105,
+                    -0.3474050785724502
+                ]
+            ],
+            "translation_vector": [
+                0.728675135508354,
+                -0.0880929970257717,
+                0.36671734026815117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.924979357972331,
+                    -0.339080430204528,
+                    0.1715740341001711
+                ],
+                [
+                    -0.2723562874585212,
+                    -0.2766509497028594,
+                    0.921567308833336
+                ],
+                [
+                    -0.2650193200634735,
+                    -0.8991600046047524,
+                    -0.34824710495892996
+                ]
+            ],
+            "translation_vector": [
+                0.7291503430910903,
+                -0.09433594134806439,
+                0.3689577058219319
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9229081104915812,
+                    -0.33775658796150815,
+                    0.18482723521564665
+                ],
+                [
+                    -0.2845736286354242,
+                    -0.27504790119991673,
+                    0.9183498799100422
+                ],
+                [
+                    -0.2593423788626296,
+                    -0.9001495094339169,
+                    -0.34996055662281633
+                ]
+            ],
+            "translation_vector": [
+                0.7310905077286285,
+                -0.10335021542537887,
+                0.371820968110324
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9222581276928936,
+                    -0.3345326910239795,
+                    0.19372099664376397
+                ],
+                [
+                    -0.29227126650127233,
+                    -0.2754182510144898,
+                    0.9158178278379722
+                ],
+                [
+                    -0.25301670435396306,
+                    -0.9012395162465826,
+                    -0.3517810138047321
+                ]
+            ],
+            "translation_vector": [
+                0.7318316797410239,
+                -0.11100942632209823,
+                0.37443676649971336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9214289606866538,
+                    -0.3314691065845985,
+                    0.20272370800654163
+                ],
+                [
+                    -0.30030817894782397,
+                    -0.2764911115733594,
+                    0.9128897320476173
+                ],
+                [
+                    -0.24654344052307528,
+                    -0.9020426246031485,
+                    -0.35430980135202106
+                ]
+            ],
+            "translation_vector": [
+                0.7321294540649805,
+                -0.1184933653768963,
+                0.37655502586364403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9195549413724099,
+                    -0.32950151414692336,
+                    0.21412020449380442
+                ],
+                [
+                    -0.31193788693229885,
+                    -0.2806925889742973,
+                    0.9076929134851274
+                ],
+                [
+                    -0.23898423482270983,
+                    -0.9014657079832772,
+                    -0.36089626326191404
+                ]
+            ],
+            "translation_vector": [
+                0.7318870398249446,
+                -0.1287792894848195,
+                0.3781717463226979
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9177541550148214,
+                    -0.32903198407706946,
+                    0.22240787847407417
+                ],
+                [
+                    -0.320478051184952,
+                    -0.28280212553879613,
+                    0.9040557374959989
+                ],
+                [
+                    -0.23456583225552433,
+                    -0.9009777529134924,
+                    -0.36499035479479053
+                ]
+            ],
+            "translation_vector": [
+                0.7316915871372687,
+                -0.1353149611057405,
+                0.3790960215480582
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9155311596180944,
+                    -0.32829863489166705,
+                    0.23242784277408618
+                ],
+                [
+                    -0.3305513940767246,
+                    -0.28477665649167516,
+                    0.8997988840798573
+                ],
+                [
+                    -0.22921272137968557,
+                    -0.900623263215919,
+                    -0.3692414739869132
+                ]
+            ],
+            "translation_vector": [
+                0.7313882293854684,
+                -0.1431640929358561,
+                0.380404301519259
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9126678630634611,
+                    -0.3283262271666592,
+                    0.24339116723020715
+                ],
+                [
+                    -0.34218429857037946,
+                    -0.28820654355369824,
+                    0.8943415980847181
+                ],
+                [
+                    -0.22348887565843797,
+                    -0.899521471009635,
+                    -0.3753849299713425
+                ]
+            ],
+            "translation_vector": [
+                0.7312510301537423,
+                -0.15082127150792768,
+                0.38125568599541143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9105931114431666,
+                    -0.3274014167625112,
+                    0.2522468982845058
+                ],
+                [
+                    -0.3513641335368885,
+                    -0.2918575230338814,
+                    0.8895855394015797
+                ],
+                [
+                    -0.21763141100522448,
+                    -0.8986809770716349,
+                    -0.38080056511702715
+                ]
+            ],
+            "translation_vector": [
+                0.7305791495483478,
+                -0.15688842256231628,
+                0.38173778561618665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9085741845043904,
+                    -0.3273178429528531,
+                    0.25953030832038415
+                ],
+                [
+                    -0.35975536044785555,
+                    -0.2973854052869187,
+                    0.884385663243909
+                ],
+                [
+                    -0.21229468170732824,
+                    -0.8968974023861518,
+                    -0.38795105066458796
+                ]
+            ],
+            "translation_vector": [
+                0.729682289217662,
+                -0.1622203609314265,
+                0.3813447503877352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9052541311593055,
+                    -0.32723409436578527,
+                    0.27098488058121584
+                ],
+                [
+                    -0.3726747223137447,
+                    -0.3052833737884652,
+                    0.8763079441821271
+                ],
+                [
+                    -0.20403065791048336,
+                    -0.8942706017604162,
+                    -0.39831091054561724
+                ]
+            ],
+            "translation_vector": [
+                0.7288714384753648,
+                -0.16884749258324128,
+                0.38022584967597195
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9028783122167383,
+                    -0.32714452141267847,
+                    0.2789035952409437
+                ],
+                [
+                    -0.3813426918275767,
+                    -0.3099664344697929,
+                    0.8709182285908259
+                ],
+                [
+                    -0.19846537410428172,
+                    -0.8926910280784466,
+                    -0.4046161436100817
+                ]
+            ],
+            "translation_vector": [
+                0.7285308685284944,
+                -0.17293277037936694,
+                0.379575985998569
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8982279576786554,
+                    -0.33039797150146716,
+                    0.2898684468377819
+                ],
+                [
+                    -0.39425980151771606,
+                    -0.31414785663839234,
+                    0.8636378483350043
+                ],
+                [
+                    -0.19428264192058806,
+                    -0.8900271370004514,
+                    -0.4124390263434545
+                ]
+            ],
+            "translation_vector": [
+                0.7285893047488126,
+                -0.1788078995324573,
+                0.37862970021092834
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8947316590194363,
+                    -0.3307249471383824,
+                    0.3001270858963602
+                ],
+                [
+                    -0.40463647856691504,
+                    -0.31590619884808596,
+                    0.8581798143409808
+                ],
+                [
+                    -0.18900946685627562,
+                    -0.8892830161819508,
+                    -0.416474655374176
+                ]
+            ],
+            "translation_vector": [
+                0.7284257082806376,
+                -0.18307426506435018,
+                0.3781220799178476
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8918252913975597,
+                    -0.3303077436167984,
+                    0.30910264335724597
+                ],
+                [
+                    -0.4135101339846101,
+                    -0.31812232805251356,
+                    0.8531163774576587
+                ],
+                [
+                    -0.18345849316858331,
+                    -0.888647837391859,
+                    -0.4202951372346397
+                ]
+            ],
+            "translation_vector": [
+                0.7281448182015174,
+                -0.18648131906826357,
+                0.3774068869688497
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8881402566619045,
+                    -0.33068408818601075,
+                    0.31914717344371635
+                ],
+                [
+                    -0.4236838315381483,
+                    -0.32012113382608937,
+                    0.8473573452629377
+                ],
+                [
+                    -0.1780418360657991,
+                    -0.887789667375379,
+                    -0.42441796747055077
+                ]
+            ],
+            "translation_vector": [
+                0.7280455805821345,
+                -0.1901466244910045,
+                0.376452949909268
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8850119826728794,
+                    -0.3272680478904695,
+                    0.33113353100430665
+                ],
+                [
+                    -0.43362634456531557,
+                    -0.32052405456371147,
+                    0.8421594408097322
+                ],
+                [
+                    -0.1694756142468315,
+                    -0.8889094190501079,
+                    -0.4255796763235515
+                ]
+            ],
+            "translation_vector": [
+                0.7278937248903129,
+                -0.19321748903983027,
+                0.37608433671738767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8820982784007245,
+                    -0.32266077473895327,
+                    0.3432093409092127
+                ],
+                [
+                    -0.44311096180776427,
+                    -0.32109601321007336,
+                    0.8369886652914688
+                ],
+                [
+                    -0.15986026012826263,
+                    -0.8903860818462151,
+                    -0.42621276668615804
+                ]
+            ],
+            "translation_vector": [
+                0.7281193055676496,
+                -0.1955107575616999,
+                0.37591228790233466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8796866440468739,
+                    -0.3150513745379311,
+                    0.3562218966982649
+                ],
+                [
+                    -0.45239314560609184,
+                    -0.32348544196017154,
+                    0.8310821924746424
+                ],
+                [
+                    -0.14660098940380467,
+                    -0.8922442492062324,
+                    -0.42709290519070053
+                ]
+            ],
+            "translation_vector": [
+                0.7280641565701635,
+                -0.19712400913748632,
+                0.3753595570817491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8763388946403418,
+                    -0.3010841288343567,
+                    0.3760033099649538
+                ],
+                [
+                    -0.4656094954811592,
+                    -0.32942811887420453,
+                    0.821392057553994
+                ],
+                [
+                    -0.12344204898787486,
+                    -0.894888519235251,
+                    -0.4288783028816165
+                ]
+            ],
+            "translation_vector": [
+                0.7279861284532814,
+                -0.19866254064238825,
+                0.37430254708111127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8727552708843354,
+                    -0.291271103418375,
+                    0.39173892001823474
+                ],
+                [
+                    -0.4763594830396877,
+                    -0.33279823452300084,
+                    0.8138347363049426
+                ],
+                [
+                    -0.10667652066772733,
+                    -0.8968871051653136,
+                    -0.42920116556972665
+                ]
+            ],
+            "translation_vector": [
+                0.7282469835051976,
+                -0.1992970766384479,
+                0.37327935153234504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8694012866983989,
+                    -0.28621444108009075,
+                    0.40276878777330827
+                ],
+                [
+                    -0.48430780805324214,
+                    -0.3320850948158074,
+                    0.8094229035923314
+                ],
+                [
+                    -0.09791501287255634,
+                    -0.8987773826250791,
+                    -0.4273310973189052
+                ]
+            ],
+            "translation_vector": [
+                0.7283749616891562,
+                -0.19920569780914865,
+                0.37211058791839163
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8636718187612306,
+                    -0.2836665282698182,
+                    0.41665848151335755
+                ],
+                [
+                    -0.4958618992165858,
+                    -0.3297190159360716,
+                    0.8033718612420214
+                ],
+                [
+                    -0.09050948228218424,
+                    -0.9004547025084035,
+                    -0.4254284456257173
+                ]
+            ],
+            "translation_vector": [
+                0.7290484329966909,
+                -0.19945799096111957,
+                0.36979906588375605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8592504583568713,
+                    -0.28017251324555126,
+                    0.4280093604527572
+                ],
+                [
+                    -0.5049521221878017,
+                    -0.3305298089798555,
+                    0.797353998970204
+                ],
+                [
+                    -0.0819268216858328,
+                    -0.9012510239646955,
+                    -0.42548159500858096
+                ]
+            ],
+            "translation_vector": [
+                0.7299138001892483,
+                -0.19987603832413742,
+                0.3682680347281204
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8549589526639447,
+                    -0.27038953840095464,
+                    0.44264510251790823
+                ],
+                [
+                    -0.5145888998184767,
+                    -0.33497653892519225,
+                    0.7892965111751786
+                ],
+                [
+                    -0.06514179490450468,
+                    -0.9025963748503634,
+                    -0.42553064597464846
+                ]
+            ],
+            "translation_vector": [
+                0.7306827364287042,
+                -0.20002872596714344,
+                0.3670579471389978
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8501510979047008,
+                    -0.26756990107395917,
+                    0.45348589699207126
+                ],
+                [
+                    -0.5233245921994513,
+                    -0.3343637738343465,
+                    0.7837934919011077
+                ],
+                [
+                    -0.05809029119146973,
+                    -0.903663219781864,
+                    -0.424285638789206
+                ]
+            ],
+            "translation_vector": [
+                0.7316897567856063,
+                -0.20016962357015558,
+                0.36573052538211764
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8452176745259423,
+                    -0.2699798077246907,
+                    0.4612136013713139
+                ],
+                [
+                    -0.531333324772049,
+                    -0.3318662979810532,
+                    0.7794547185379219
+                ],
+                [
+                    -0.05737578457536393,
+                    -0.9038670608476058,
+                    -0.42394852949275763
+                ]
+            ],
+            "translation_vector": [
+                0.7328375635692729,
+                -0.19966583296962864,
+                0.36313308310517345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8412281872738407,
+                    -0.2714910871601849,
+                    0.46757643923592784
+                ],
+                [
+                    -0.5379646058038448,
+                    -0.333717199442546,
+                    0.7740974833304514
+                ],
+                [
+                    -0.05412226749021567,
+                    -0.9027321974920389,
+                    -0.42678491043254163
+                ]
+            ],
+            "translation_vector": [
+                0.7338434619948132,
+                -0.1990522648943476,
+                0.3600172523664336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8365673047871846,
+                    -0.27073266879050684,
+                    0.47629714109017646
+                ],
+                [
+                    -0.5460498575562787,
+                    -0.34133578054742725,
+                    0.7650617216805754
+                ],
+                [
+                    -0.04454994527351862,
+                    -0.9001076085489157,
+                    -0.43338388918887855
+                ]
+            ],
+            "translation_vector": [
+                0.7352406082626481,
+                -0.19788421446641866,
+                0.355721816544006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8344441789764587,
+                    -0.2697737730647892,
+                    0.480546588312404
+                ],
+                [
+                    -0.549707627684507,
+                    -0.3456761176128816,
+                    0.760479812866559
+                ],
+                [
+                    -0.039044029476668886,
+                    -0.898738078128702,
+                    -0.4367441249561947
+                ]
+            ],
+            "translation_vector": [
+                0.7358682798752354,
+                -0.19731969969941165,
+                0.35350504317048487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.832700116706933,
+                    -0.2677068706717833,
+                    0.48470975545307643
+                ],
+                [
+                    -0.5527797280356505,
+                    -0.3507896471745503,
+                    0.7558976092752159
+                ],
+                [
+                    -0.03232781942990312,
+                    -0.8973737542575422,
+                    -0.4400855113050553
+                ]
+            ],
+            "translation_vector": [
+                0.736353250713007,
+                -0.19651689226403538,
+                0.3511588105716514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8309254453892482,
+                    -0.2682724155399555,
+                    0.4874349343912857
+                ],
+                [
+                    -0.555583589192223,
+                    -0.3531036384551086,
+                    0.7527580593590819
+                ],
+                [
+                    -0.02982917405773996,
+                    -0.8962966760900776,
+                    -0.44245054955883123
+                ]
+            ],
+            "translation_vector": [
+                0.7368526495163716,
+                -0.19566556054518103,
+                0.34857792146157823
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.830302252322428,
+                    -0.2678519938715267,
+                    0.48872638476692803
+                ],
+                [
+                    -0.5566154470273676,
+                    -0.3546816984728117,
+                    0.751252378963931
+                ],
+                [
+                    -0.027882143368605693,
+                    -0.8957991974474467,
+                    -0.4435835704054911
+                ]
+            ],
+            "translation_vector": [
+                0.7369755987380318,
+                -0.19490987797300732,
+                0.3468856569046595
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.829852961614308,
+                    -0.26900750031379805,
+                    0.488854811651562
+                ],
+                [
+                    -0.5572802720354099,
+                    -0.35564603908953435,
+                    0.7503030009803141
+                ],
+                [
+                    -0.027977857317916983,
+                    -0.8950703098946181,
+                    -0.4450464917792869
+                ]
+            ],
+            "translation_vector": [
+                0.7370043537655422,
+                -0.19441310670595058,
+                0.3450578370169529
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8296267588873041,
+                    -0.2696620568389589,
+                    0.48887811982080925
+                ],
+                [
+                    -0.5576462245179638,
+                    -0.3572646745422792,
+                    0.749261396713497
+                ],
+                [
+                    -0.027388486979169974,
+                    -0.8942283418823079,
+                    -0.4467723618974326
+                ]
+            ],
+            "translation_vector": [
+                0.7370129477269072,
+                -0.19388935084465253,
+                0.34306281450265097
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8302792652361171,
+                    -0.26571888244077674,
+                    0.48992837969788877
+                ],
+                [
+                    -0.5569712500233094,
+                    -0.3632752518358496,
+                    0.7468695455372865
+                ],
+                [
+                    -0.020478485452938292,
+                    -0.8929863195581583,
+                    -0.4496176872805706
+                ]
+            ],
+            "translation_vector": [
+                0.7367601151463476,
+                -0.19304548515045677,
+                0.34124504713972204
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8304333900122212,
+                    -0.2632051086796998,
+                    0.49102286659351974
+                ],
+                [
+                    -0.5569558530504692,
+                    -0.37095834275319134,
+                    0.7430949372015866
+                ],
+                [
+                    -0.013437354860024916,
+                    -0.8905689073321127,
+                    -0.4546498199577918
+                ]
+            ],
+            "translation_vector": [
+                0.7367435962402068,
+                -0.19270887951384896,
+                0.3393646229671106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8299827613961852,
+                    -0.26690642417752597,
+                    0.48978523509588406
+                ],
+                [
+                    -0.5576036091445612,
+                    -0.3743813768734571,
+                    0.7408891953047327
+                ],
+                [
+                    -0.014381615143063929,
+                    -0.8880312750028018,
+                    -0.45955807441799534
+                ]
+            ],
+            "translation_vector": [
+                0.7371074207355695,
+                -0.19223993145454255,
+                0.33669816766416294
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8303088430253509,
+                    -0.2684972275819761,
+                    0.48836099759777707
+                ],
+                [
+                    -0.5571001213125258,
+                    -0.3762059094343623,
+                    0.7403435476454385
+                ],
+                [
+                    -0.015055896767460783,
+                    -0.8867797654927955,
+                    -0.4619469314597409
+                ]
+            ],
+            "translation_vector": [
+                0.7370459439119861,
+                -0.19157831723563418,
+                0.3348661026950328
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8308518507583593,
+                    -0.2673574887712767,
+                    0.48806267557489547
+                ],
+                [
+                    -0.5563795314867883,
+                    -0.3813242261443556,
+                    0.7382639443301767
+                ],
+                [
+                    -0.011270272132953023,
+                    -0.8849360472674425,
+                    -0.46557617337308427
+                ]
+            ],
+            "translation_vector": [
+                0.7367349202732312,
+                -0.19116986772116046,
+                0.3327933609835053
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8310131685885336,
+                    -0.26950685229168553,
+                    0.4866037096038962
+                ],
+                [
+                    -0.556143124940835,
+                    -0.38518407140573996,
+                    0.7364360499842064
+                ],
+                [
+                    -0.011042563719000703,
+                    -0.8826093630271126,
+                    -0.46997741869518184
+                ]
+            ],
+            "translation_vector": [
+                0.7367876117077807,
+                -0.19091194440724582,
+                0.3302724427048959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8312183142825199,
+                    -0.2704197360343899,
+                    0.4857461068957909
+                ],
+                [
+                    -0.5558334396241469,
+                    -0.38664161676379716,
+                    0.7359058686964435
+                ],
+                [
+                    -0.011193810652141796,
+                    -0.8816923650283971,
+                    -0.47169192494012036
+                ]
+            ],
+            "translation_vector": [
+                0.7368451448590481,
+                -0.19076630010634352,
+                0.32906534392756215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8311111547494922,
+                    -0.27146969566612594,
+                    0.48534364401515273
+                ],
+                [
+                    -0.5560060633303159,
+                    -0.38907101289628476,
+                    0.7344937062111453
+                ],
+                [
+                    -0.010559639714075227,
+                    -0.8802999211966341,
+                    -0.4743000556085873
+                ]
+            ],
+            "translation_vector": [
+                0.7369361651574742,
+                -0.19082965574370836,
+                0.3275691866241366
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8310869447590907,
+                    -0.27450437343888223,
+                    0.48367534484809865
+                ],
+                [
+                    -0.55600703639276,
+                    -0.39091824035735767,
+                    0.7335114892335686
+                ],
+                [
+                    -0.012274597050025137,
+                    -0.8785387175980546,
+                    -0.4775134091818006
+                ]
+            ],
+            "translation_vector": [
+                0.7370718990306642,
+                -0.19087222130736897,
+                0.32562736231790784
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8314145214238866,
+                    -0.27633362076039564,
+                    0.4820680694704219
+                ],
+                [
+                    -0.5554858574207266,
+                    -0.39209247230027605,
+                    0.7332795888138559
+                ],
+                [
+                    -0.013614542630947949,
+                    -0.8774412933085081,
+                    -0.4794907934737048
+                ]
+            ],
+            "translation_vector": [
+                0.7370929060842356,
+                -0.19063664285393417,
+                0.32423193140551854
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8315098963765817,
+                    -0.2784398224704519,
+                    0.48068966859131657
+                ],
+                [
+                    -0.5553065531484145,
+                    -0.39321417482347454,
+                    0.732814604622698
+                ],
+                [
+                    -0.015030777033594485,
+                    -0.876272718952563,
+                    -0.4815809358365934
+                ]
+            ],
+            "translation_vector": [
+                0.7371870871104746,
+                -0.1904669370635042,
+                0.3229963582937405
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8319916820283214,
+                    -0.2817863020366784,
+                    0.47789781441243157
+                ],
+                [
+                    -0.5545535805934088,
+                    -0.3973598736547397,
+                    0.7311466727409212
+                ],
+                [
+                    -0.016129702003285645,
+                    -0.8733278942033077,
+                    -0.4868657124091838
+                ]
+            ],
+            "translation_vector": [
+                0.7374770267929449,
+                -0.19024588218539873,
+                0.3208173939407227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8330476361366657,
+                    -0.28220719152653684,
+                    0.4758053561886605
+                ],
+                [
+                    -0.5529822602253956,
+                    -0.4005991688450466,
+                    0.7305689055774757
+                ],
+                [
+                    -0.015564568838436339,
+                    -0.871710621118822,
+                    -0.4897737612668845
+                ]
+            ],
+            "translation_vector": [
+                0.7375965928398484,
+                -0.18973476005388024,
+                0.3195535568549193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8342433033440182,
+                    -0.28205358777061373,
+                    0.47379730312802054
+                ],
+                [
+                    -0.5511979871243217,
+                    -0.4035277555156625,
+                    0.7303055042368145
+                ],
+                [
+                    -0.014794925337996603,
+                    -0.8704085960939361,
+                    -0.49210769759273904
+                ]
+            ],
+            "translation_vector": [
+                0.7374402683666581,
+                -0.18922550152934672,
+                0.3184796127124425
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8359156762403205,
+                    -0.2842363692504162,
+                    0.46952600419042684
+                ],
+                [
+                    -0.5486314055872821,
+                    -0.40814301107631606,
+                    0.7296731208650085
+                ],
+                [
+                    -0.015765881485378285,
+                    -0.8675419119010327,
+                    -0.4971141398875009
+                ]
+            ],
+            "translation_vector": [
+                0.7370855231851718,
+                -0.1884985921034045,
+                0.31614772691008897
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8369849375034552,
+                    -0.28455656289158565,
+                    0.4674224822445585
+                ],
+                [
+                    -0.5469954101961287,
+                    -0.4102572553757961,
+                    0.7297157019249949
+                ],
+                [
+                    -0.015881927361202936,
+                    -0.8664390035812366,
+                    -0.499030277093933
+                ]
+            ],
+            "translation_vector": [
+                0.7367954664242113,
+                -0.18798438518094082,
+                0.3151147050135307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8378380681566152,
+                    -0.28517573905432936,
+                    0.46551280261922745
+                ],
+                [
+                    -0.5456774148375474,
+                    -0.4121176526720646,
+                    0.7296541641711355
+                ],
+                [
+                    -0.016233622017342336,
+                    -0.8653518580386157,
+                    -0.5009018180295549
+                ]
+            ],
+            "translation_vector": [
+                0.7367998447090736,
+                -0.18739285626296015,
+                0.31402527397786484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8381595203236292,
+                    -0.2860509763308919,
+                    0.4643957982486571
+                ],
+                [
+                    -0.5451684447038249,
+                    -0.413249324612259,
+                    0.7293945178068757
+                ],
+                [
+                    -0.016732763970028316,
+                    -0.8645228942299075,
+                    -0.5023148215633976
+                ]
+            ],
+            "translation_vector": [
+                0.7370698084519317,
+                -0.1870711114199704,
+                0.3132916918332457
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8379767914742827,
+                    -0.2876842152616563,
+                    0.46371617314878244
+                ],
+                [
+                    -0.545421642880107,
+                    -0.41411055123454776,
+                    0.7287164625793656
+                ],
+                [
+                    -0.01761046360637757,
+                    -0.8635683201956311,
+                    -0.5039242283578598
+                ]
+            ],
+            "translation_vector": [
+                0.7375300574867469,
+                -0.18708659973145342,
+                0.312651591101325
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.837727000553534,
+                    -0.289219900754272,
+                    0.463211961796399
+                ],
+                [
+                    -0.5457822879858627,
+                    -0.4149908021259138,
+                    0.7279452783498276
+                ],
+                [
+                    -0.018307557578672126,
+                    -0.8626322989307671,
+                    -0.5055000990869575
+                ]
+            ],
+            "translation_vector": [
+                0.7379801383199792,
+                -0.1871142113220022,
+                0.3120656567266146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.837438573564368,
+                    -0.29147476255992455,
+                    0.4623192601407734
+                ],
+                [
+                    -0.5462073656176182,
+                    -0.4172281484339509,
+                    0.7263457757152846
+                ],
+                [
+                    -0.018818853619127714,
+                    -0.8607921554852905,
+                    -0.5086086076773074
+                ]
+            ],
+            "translation_vector": [
+                0.7386023968127026,
+                -0.18715524192490107,
+                0.3110319777931244
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8372540409945333,
+                    -0.2928084188952207,
+                    0.4618104596719369
+                ],
+                [
+                    -0.5464819083773402,
+                    -0.41862670901374077,
+                    0.7253338557633895
+                ],
+                [
+                    -0.019057666556666387,
+                    -0.8596597631181804,
+                    -0.5105114073368088
+                ]
+            ],
+            "translation_vector": [
+                0.7389390859636399,
+                -0.1871456263135024,
+                0.31032703657603367
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8369767951779112,
+                    -0.294019559927284,
+                    0.46154343534913284
+                ],
+                [
+                    -0.5468943556870698,
+                    -0.4195059359178202,
+                    0.7245145501971221
+                ],
+                [
+                    -0.019401238397007983,
+                    -0.858817365980614,
+                    -0.5119143715884351
+                ]
+            ],
+            "translation_vector": [
+                0.7392224129360445,
+                -0.18717735224238957,
+                0.3097469262464767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8362631585151459,
+                    -0.2954868725241938,
+                    0.46189981367840294
+                ],
+                [
+                    -0.5479735575807142,
+                    -0.42006320867064284,
+                    0.7233753388896114
+                ],
+                [
+                    -0.019720798731498214,
+                    -0.8580410298390139,
+                    -0.5132023784143999
+                ]
+            ],
+            "translation_vector": [
+                0.739791019725146,
+                -0.1874182030929625,
+                0.3092707933028147
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.835967687073108,
+                    -0.2957822726034069,
+                    0.4622454687535638
+                ],
+                [
+                    -0.5484382011627581,
+                    -0.4206264957688517,
+                    0.7226955725356108
+                ],
+                [
+                    -0.019327847138161512,
+                    -0.8576632196094107,
+                    -0.5138484563119984
+                ]
+            ],
+            "translation_vector": [
+                0.7401552457871329,
+                -0.18745316254754035,
+                0.3090898904793959
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8355550268884532,
+                    -0.2963442657310939,
+                    0.4626314658664448
+                ],
+                [
+                    -0.5490704377041336,
+                    -0.42095421197167665,
+                    0.7220243803797046
+                ],
+                [
+                    -0.01922112069646061,
+                    -0.8573083620212765,
+                    -0.5144442835988835
+                ]
+            ],
+            "translation_vector": [
+                0.7405414072661977,
+                -0.18753226014244706,
+                0.30888492551297086
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8352388513160981,
+                    -0.29658009826250586,
+                    0.46305108418701213
+                ],
+                [
+                    -0.5495651807865518,
+                    -0.4214000036753117,
+                    0.7213876551269032
+                ],
+                [
+                    -0.018819493064631584,
+                    -0.8570077492164523,
+                    -0.5149597503336942
+                ]
+            ],
+            "translation_vector": [
+                0.7408769242367899,
+                -0.18761535371299284,
+                0.3087761574420591
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8350159518207547,
+                    -0.2968243674575827,
+                    0.4632965088237608
+                ],
+                [
+                    -0.549906892036959,
+                    -0.42153523505374113,
+                    0.7210481646176209
+                ],
+                [
+                    -0.018728862622474494,
+                    -0.8568566627456388,
+                    -0.5152144109138208
+                ]
+            ],
+            "translation_vector": [
+                0.7410908101964148,
+                -0.1876495871203808,
+                0.30867522890447874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.834833655163132,
+                    -0.29707356271204444,
+                    0.46346528084047267
+                ],
+                [
+                    -0.5501826886543539,
+                    -0.4215653097330093,
+                    0.720820156998109
+                ],
+                [
+                    -0.01875572744607335,
+                    -0.8567555006927503,
+                    -0.5153816398754263
+                ]
+            ],
+            "translation_vector": [
+                0.741215943375365,
+                -0.18769744732070598,
+                0.3085878325540864
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8345786345444977,
+                    -0.2973039301039206,
+                    0.4637767522274109
+                ],
+                [
+                    -0.5505728492985277,
+                    -0.4216375150382172,
+                    0.7204799397122019
+                ],
+                [
+                    -0.018655840295812895,
+                    -0.8566400522139743,
+                    -0.5155771334782961
+                ]
+            ],
+            "translation_vector": [
+                0.7413957027692779,
+                -0.1877151090676342,
+                0.3084711917506496
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8345296752379103,
+                    -0.2971974529676662,
+                    0.46393307178604987
+                ],
+                [
+                    -0.5506523183038915,
+                    -0.42163012625748036,
+                    0.7204235288902295
+                ],
+                [
+                    -0.018499878211981173,
+                    -0.8566806351153465,
+                    -0.5155153188068312
+                ]
+            ],
+            "translation_vector": [
+                0.7414927595747537,
+                -0.18766666715268485,
+                0.30847604827123953
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8344445228649576,
+                    -0.29732101864201677,
+                    0.464007058280741
+                ],
+                [
+                    -0.5507810455605594,
+                    -0.4216608100020862,
+                    0.720307157509629
+                ],
+                [
+                    -0.018508865764556067,
+                    -0.8566226550716822,
+                    -0.515611334927823
+                ]
+            ],
+            "translation_vector": [
+                0.7415495307192645,
+                -0.18771755407385798,
+                0.30844681551423764
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8344993182546226,
+                    -0.29729387753675646,
+                    0.46392589732815137
+                ],
+                [
+                    -0.55069322102834,
+                    -0.42149210525376296,
+                    0.7204730262280353
+                ],
+                [
+                    -0.018651116481390197,
+                    -0.8567150959262427,
+                    -0.5154525974966919
+                ]
+            ],
+            "translation_vector": [
+                0.7415814943177155,
+                -0.1876762736474918,
+                0.3084748911331869
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8345322222355381,
+                    -0.29735513427447524,
+                    0.46382744008006227
+                ],
+                [
+                    -0.550639907538628,
+                    -0.4214861550035374,
+                    0.7205172540378098
+                ],
+                [
+                    -0.01875266051700995,
+                    -0.8566967638907849,
+                    -0.5154793812196478
+                ]
+            ],
+            "translation_vector": [
+                0.7415638305512572,
+                -0.1876609709997009,
+                0.3084464368873109
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.834596174174893,
+                    -0.2973527568162683,
+                    0.46371388168395083
+                ],
+                [
+                    -0.5505368110634694,
+                    -0.42131296080032477,
+                    0.7206973072835292
+                ],
+                [
+                    -0.01893266269434187,
+                    -0.856782777065126,
+                    -0.5153298237128073
+                ]
+            ],
+            "translation_vector": [
+                0.7415514972071435,
+                -0.18762607232584175,
+                0.3084718139055824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8347564824956885,
+                    -0.2974230250647082,
+                    0.4633801453372636
+                ],
+                [
+                    -0.5502807744127656,
+                    -0.4211199620870367,
+                    0.7210055803137034
+                ],
+                [
+                    -0.01930503154912311,
+                    -0.8568532673061189,
+                    -0.5151987908212874
+                ]
+            ],
+            "translation_vector": [
+                0.7415234123152916,
+                -0.18752685057819443,
+                0.30848736060145215
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8349630993164672,
+                    -0.29735520123599096,
+                    0.46305130069760375
+                ],
+                [
+                    -0.5499604622333716,
+                    -0.4210740855931748,
+                    0.7212767183418081
+                ],
+                [
+                    -0.0194964807053898,
+                    -0.8568993515809048,
+                    -0.5151149274679674
+                ]
+            ],
+            "translation_vector": [
+                0.7414586417142192,
+                -0.18742530701143206,
+                0.3084815735196799
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.835158879663535,
+                    -0.29715991686622073,
+                    0.4628235403771186
+                ],
+                [
+                    -0.5496625232270423,
+                    -0.42108356495438315,
+                    0.7214982618724657
+                ],
+                [
+                    -0.01951297719033867,
+                    -0.8569624350771559,
+                    -0.5150093480586548
+                ]
+            ],
+            "translation_vector": [
+                0.7414110492911705,
+                -0.18736146067913959,
+                0.3085139994946777
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8353791193116826,
+                    -0.2970280223176867,
+                    0.4625106279601383
+                ],
+                [
+                    -0.5493184430968097,
+                    -0.42085439760762094,
+                    0.7218939147049406
+                ],
+                [
+                    -0.01977309009069483,
+                    -0.857120720769467,
+                    -0.5147359468075791
+                ]
+            ],
+            "translation_vector": [
+                0.7413877007590487,
+                -0.18732941542320006,
+                0.3086350428242532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8360461360094008,
+                    -0.29661415049998263,
+                    0.4615700425579244
+                ],
+                [
+                    -0.5482822866787794,
+                    -0.4204943068786345,
+                    0.7228907745966505
+                ],
+                [
+                    -0.0203320578899237,
+                    -0.8574407172544527,
+                    -0.5141809251772477
+                ]
+            ],
+            "translation_vector": [
+                0.7412026975420039,
+                -0.18714089221746985,
+                0.30883878880140514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8368968517974316,
+                    -0.29610652768367945,
+                    0.460352673191611
+                ],
+                [
+                    -0.5469548887620059,
+                    -0.4200245701620532,
+                    0.7241682885348708
+                ],
+                [
+                    -0.021071523696434946,
+                    -0.8578463060031771,
+                    -0.5134741533571224
+                ]
+            ],
+            "translation_vector": [
+                0.7409592704268073,
+                -0.186897696367963,
+                0.3091104451858039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8375743081585229,
+                    -0.2957007822478935,
+                    0.4593803714687379
+                ],
+                [
+                    -0.5458886768830364,
+                    -0.41944290633034526,
+                    0.7253090381210212
+                ],
+                [
+                    -0.021790611823892067,
+                    -0.8582707589724453,
+                    -0.5127343108562205
+                ]
+            ],
+            "translation_vector": [
+                0.7407807642094262,
+                -0.18674326072034356,
+                0.30943649449703065
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8378692336111588,
+                    -0.295795167182044,
+                    0.4587813928654869
+                ],
+                [
+                    -0.545400980037503,
+                    -0.4187616504488759,
+                    0.7260691778938594
+                ],
+                [
+                    -0.022647700589257913,
+                    -0.8585708469224193,
+                    -0.5121944771987874
+                ]
+            ],
+            "translation_vector": [
+                0.7407210096376423,
+                -0.18667891375187348,
+                0.3096897022691906
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8380930059650931,
+                    -0.2958157601601241,
+                    0.4583591925480308
+                ],
+                [
+                    -0.5450312575189517,
+                    -0.4182229121450547,
+                    0.7266570883740283
+                ],
+                [
+                    -0.023260302657212323,
+                    -0.8588263106110561,
+                    -0.5117385333571208
+                ]
+            ],
+            "translation_vector": [
+                0.7406574186775069,
+                -0.18662618261923528,
+                0.3098742729859864
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8384769403255884,
+                    -0.296112885322117,
+                    0.457464293348072
+                ],
+                [
+                    -0.5443921711859039,
+                    -0.41763130988517955,
+                    0.7274759466505313
+                ],
+                [
+                    -0.024363589508473935,
+                    -0.8590117858037806,
+                    -0.5113757594533228
+                ]
+            ],
+            "translation_vector": [
+                0.7405412297124148,
+                -0.18652594281819423,
+                0.3100727520744785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8387830214465696,
+                    -0.29633297154630933,
+                    0.4567601262232704
+                ],
+                [
+                    -0.5438901172394139,
+                    -0.41746758537332307,
+                    0.7279452970738004
+                ],
+                [
+                    -0.0250316460157972,
+                    -0.8590154743292471,
+                    -0.5113372972516658
+                ]
+            ],
+            "translation_vector": [
+                0.7404673314878853,
+                -0.18642888038605798,
+                0.3101291174379856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8391431681898742,
+                    -0.29640755944808517,
+                    0.45604967052097545
+                ],
+                [
+                    -0.5433191649344427,
+                    -0.41770859628756885,
+                    0.7282333510643471
+                ],
+                [
+                    -0.025358002586958896,
+                    -0.8588725675497493,
+                    -0.5115612225484855
+                ]
+            ],
+            "translation_vector": [
+                0.7403413890726063,
+                -0.18635319886541094,
+                0.3100973302087992
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8400885770175971,
+                    -0.2964225658894805,
+                    0.45429598853175635
+                ],
+                [
+                    -0.5418105695958753,
+                    -0.417899551761683,
+                    0.7292470578011117
+                ],
+                [
+                    -0.026315194066208147,
+                    -0.8587744913939173,
+                    -0.5116775190414142
+                ]
+            ],
+            "translation_vector": [
+                0.7400171100903582,
+                -0.18603023167454874,
+                0.31008118116592875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8409945555208804,
+                    -0.29635441923747363,
+                    0.4526612594232647
+                ],
+                [
+                    -0.5403687411888779,
+                    -0.41830286427141367,
+                    0.7300851575592251
+                ],
+                [
+                    -0.02701446150090648,
+                    -0.8586016375134341,
+                    -0.5119310958801634
+                ]
+            ],
+            "translation_vector": [
+                0.7396897346457186,
+                -0.18571425720054113,
+                0.3100270360885353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8415740421612588,
+                    -0.29668757775329735,
+                    0.45136416867895135
+                ],
+                [
+                    -0.5394273417777491,
+                    -0.418680928558778,
+                    0.7305644550645418
+                ],
+                [
+                    -0.027771829305092297,
+                    -0.8583022551922141,
+                    -0.5123923928289805
+                ]
+            ],
+            "translation_vector": [
+                0.7394896594828446,
+                -0.18553445649903236,
+                0.3099276676049666
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8421848282658742,
+                    -0.2971271860429893,
+                    0.44993349547789285
+                ],
+                [
+                    -0.5384169361818184,
+                    -0.4187943879140389,
+                    0.7312444621905106
+                ],
+                [
+                    -0.028842986519497404,
+                    -0.8580948059310698,
+                    -0.512680588829688
+                ]
+            ],
+            "translation_vector": [
+                0.7393294336933768,
+                -0.18535546839273903,
+                0.30996315218658743
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8423757951250119,
+                    -0.29984410727905236,
+                    0.4477683900383461
+                ],
+                [
+                    -0.5378651259446149,
+                    -0.41658007740624753,
+                    0.732913463787362
+                ],
+                [
+                    -0.03322839267987441,
+                    -0.858227563317698,
+                    -0.5121926624637249
+                ]
+            ],
+            "translation_vector": [
+                0.739393630678122,
+                -0.18529191943149032,
+                0.3101666368545067
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8426078137789312,
+                    -0.30442204324099686,
+                    0.44422887315849546
+                ],
+                [
+                    -0.5369512770951086,
+                    -0.4118493736410761,
+                    0.736249563298604
+                ],
+                [
+                    -0.04117521323104525,
+                    -0.8588988956917045,
+                    -0.5104873052240849
+                ]
+            ],
+            "translation_vector": [
+                0.73962775246664,
+                -0.18534869103946283,
+                0.3107842051248163
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8438943561159965,
+                    -0.30608711911553216,
+                    0.4406279510279872
+                ],
+                [
+                    -0.5342938374973887,
+                    -0.40490582413813286,
+                    0.7420117039449807
+                ],
+                [
+                    -0.048707401161242246,
+                    -0.8616042879945376,
+                    -0.5052382012294243
+                ]
+            ],
+            "translation_vector": [
+                0.740076855339595,
+                -0.18547048091083157,
+                0.3130407871040643
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8452326054403168,
+                    -0.30354517136350634,
+                    0.43982061302589454
+                ],
+                [
+                    -0.5320560693459548,
+                    -0.4010220363666186,
+                    0.7457195621817246
+                ],
+                [
+                    -0.049981814419911834,
+                    -0.864315715054557,
+                    -0.50045995138175
+                ]
+            ],
+            "translation_vector": [
+                0.7407295471762398,
+                -0.18576957645079342,
+                0.3158678738695147
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8461786202065886,
+                    -0.30227908109016005,
+                    0.4388725325656214
+                ],
+                [
+                    -0.5301518936073808,
+                    -0.39398696130854677,
+                    0.7508083936820141
+                ],
+                [
+                    -0.05404361580966297,
+                    -0.867987114797303,
+                    -0.4936371705373
+                ]
+            ],
+            "translation_vector": [
+                0.7414208357250582,
+                -0.1863039216784133,
+                0.3192726375658211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8477187038084351,
+                    -0.3003561407121122,
+                    0.43721755219784175
+                ],
+                [
+                    -0.5269872369984883,
+                    -0.38290324828394173,
+                    0.7587289071165703
+                ],
+                [
+                    -0.060476865444944204,
+                    -0.8735967554828326,
+                    -0.4828780980287077
+                ]
+            ],
+            "translation_vector": [
+                0.7419852645044585,
+                -0.1869236739960637,
+                0.3241077849380061
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8494382094230307,
+                    -0.2997231388052253,
+                    0.43430492564204193
+                ],
+                [
+                    -0.523318814787638,
+                    -0.3727865924775777,
+                    0.7662686047060904
+                ],
+                [
+                    -0.06776537804408515,
+                    -0.878177770462052,
+                    -0.4735099333750477
+                ]
+            ],
+            "translation_vector": [
+                0.7421275418162383,
+                -0.18768193938167838,
+                0.32825650437763876
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8518534720833331,
+                    -0.29616031487476907,
+                    0.432012418794701
+                ],
+                [
+                    -0.5188027179426123,
+                    -0.36364762084469654,
+                    0.7736951258146523
+                ],
+                [
+                    -0.0720375038082857,
+                    -0.8832040963148156,
+                    -0.46342326473516815
+                ]
+            ],
+            "translation_vector": [
+                0.742275642483982,
+                -0.18829553646828345,
+                0.33311377315769236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8558095274038269,
+                    -0.2885224189941441,
+                    0.4293540107447538
+                ],
+                [
+                    -0.5118992764690045,
+                    -0.35283258124875627,
+                    0.7832421722301792
+                ],
+                [
+                    -0.07449284230950151,
+                    -0.890092120708361,
+                    -0.4496519021393597
+                ]
+            ],
+            "translation_vector": [
+                0.7426301037584171,
+                -0.18905698039358576,
+                0.3407087133488943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8583370712815598,
+                    -0.28268094347000033,
+                    0.42819266255122246
+                ],
+                [
+                    -0.5075890151523544,
+                    -0.3459923087463275,
+                    0.7890771280331531
+                ],
+                [
+                    -0.07490569911867534,
+                    -0.8946400429710804,
+                    -0.44046376667354376
+                ]
+            ],
+            "translation_vector": [
+                0.7426286752364367,
+                -0.18967793390707577,
+                0.34601090945543284
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8604634364752228,
+                    -0.27917269278908186,
+                    0.4262221041782601
+                ],
+                [
+                    -0.5037267001019605,
+                    -0.3404078444678586,
+                    0.7939659382046159
+                ],
+                [
+                    -0.07656426120351587,
+                    -0.897878113680047,
+                    -0.4335352429511593
+                ]
+            ],
+            "translation_vector": [
+                0.7422921550115837,
+                -0.1899468100194554,
+                0.34976407124993464
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8650376833803383,
+                    -0.2697306362617131,
+                    0.4230309565431701
+                ],
+                [
+                    -0.4960984359058596,
+                    -0.3341442811909846,
+                    0.8013949970140318
+                ],
+                [
+                    -0.07480740754589646,
+                    -0.9031018675704374,
+                    -0.4228603416815658
+                ]
+            ],
+            "translation_vector": [
+                0.7410727457383057,
+                -0.18990621383089315,
+                0.3559550376763486
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8684864309907735,
+                    -0.261531703744388,
+                    0.42110864052102587
+                ],
+                [
+                    -0.490407913132678,
+                    -0.3293497034718543,
+                    0.8068635891895568
+                ],
+                [
+                    -0.07232840328502123,
+                    -0.907265088471699,
+                    -0.41429296556745926
+                ]
+            ],
+            "translation_vector": [
+                0.74015127713277,
+                -0.18994714895064393,
+                0.3612641454719484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8721225338071668,
+                    -0.25263233027870774,
+                    0.41902170793852367
+                ],
+                [
+                    -0.48420117060529083,
+                    -0.32245716263897656,
+                    0.8133699064062347
+                ],
+                [
+                    -0.07036698380798713,
+                    -0.9122490251903648,
+                    -0.4035470277786666
+                ]
+            ],
+            "translation_vector": [
+                0.7390781239570449,
+                -0.1898150321065284,
+                0.3671285591312581
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8767457018409895,
+                    -0.24207991482085675,
+                    0.41558908689194174
+                ],
+                [
+                    -0.47626177906184236,
+                    -0.31657938540782027,
+                    0.8203366446402697
+                ],
+                [
+                    -0.06702008734849578,
+                    -0.9171558251328582,
+                    -0.39285302635548885
+                ]
+            ],
+            "translation_vector": [
+                0.736859762646668,
+                -0.18969148105804778,
+                0.373320444358923
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.880085228835685,
+                    -0.2351435662320562,
+                    0.41250150696077587
+                ],
+                [
+                    -0.4703653676436741,
+                    -0.31309321279792424,
+                    0.8250630648752283
+                ],
+                [
+                    -0.06485684934277691,
+                    -0.9201522392297617,
+                    -0.38615210181194654
+                ]
+            ],
+            "translation_vector": [
+                0.7344272135022574,
+                -0.1897066963862577,
+                0.3772767923139512
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8837390402259161,
+                    -0.22913560581528375,
+                    0.40804679012123113
+                ],
+                [
+                    -0.4636915383226145,
+                    -0.31096599684666043,
+                    0.8296326332137439
+                ],
+                [
+                    -0.06320969916543169,
+                    -0.9223865908353319,
+                    -0.38106103314113604
+                ]
+            ],
+            "translation_vector": [
+                0.7316971290850678,
+                -0.18910896631655533,
+                0.38034817113815206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8866997263145606,
+                    -0.22294707502812428,
+                    0.4050409819883503
+                ],
+                [
+                    -0.45843187331111834,
+                    -0.31020598684612305,
+                    0.8328339950177837
+                ],
+                [
+                    -0.06003176564238326,
+                    -0.9241573715884253,
+                    -0.37726560889197297
+                ]
+            ],
+            "translation_vector": [
+                0.728790357645135,
+                -0.1883622732158718,
+                0.3836517088321518
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8883759447300799,
+                    -0.21948899737636288,
+                    0.4032527257882539
+                ],
+                [
+                    -0.455425198305081,
+                    -0.31013223605892853,
+                    0.8345093677759805
+                ],
+                [
+                    -0.05810395488876321,
+                    -0.9250095005932685,
+                    -0.3754748383560163
+                ]
+            ],
+            "translation_vector": [
+                0.727076841752618,
+                -0.18790084102888338,
+                0.3857749745696306
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8915400743844095,
+                    -0.21346067887224252,
+                    0.3994882155233653
+                ],
+                [
+                    -0.4496198151450401,
+                    -0.31045525609800256,
+                    0.8375318237476492
+                ],
+                [
+                    -0.05475689541584018,
+                    -0.926311002059527,
+                    -0.37275945308991654
+                ]
+            ],
+            "translation_vector": [
+                0.7243453812575099,
+                -0.1864011918504621,
+                0.3884456015061657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8957594660812751,
+                    -0.2049553954174102,
+                    0.3944721343961858
+                ],
+                [
+                    -0.44182026803081986,
+                    -0.31247360344532077,
+                    0.8409251440568721
+                ],
+                [
+                    -0.049090016123075834,
+                    -0.9275524422043154,
+                    -0.37045463592435535
+                ]
+            ],
+            "translation_vector": [
+                0.7209539274699958,
+                -0.1845756644929943,
+                0.3913775773521254
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8991420599806084,
+                    -0.1999008543425371,
+                    0.38933687778959686
+                ],
+                [
+                    -0.43513103040958195,
+                    -0.3128780335761065,
+                    0.8442560763656037
+                ],
+                [
+                    -0.04695255422789233,
+                    -0.9285187044635518,
+                    -0.3683048643621262
+                ]
+            ],
+            "translation_vector": [
+                0.7182222266251432,
+                -0.1828931613728795,
+                0.3936123675455042
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9011022799842763,
+                    -0.19621340933408152,
+                    0.38667166822077254
+                ],
+                [
+                    -0.43126440699709273,
+                    -0.3129965654462565,
+                    0.8461939265182025
+                ],
+                [
+                    -0.04500769117145357,
+                    -0.9292650041922075,
+                    -0.3666617783722098
+                ]
+            ],
+            "translation_vector": [
+                0.716502658267028,
+                -0.18193515698995164,
+                0.39502159679267307
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9044976492058716,
+                    -0.18888527837367924,
+                    0.3823693949504191
+                ],
+                [
+                    -0.4244422204274122,
+                    -0.311173611177325,
+                    0.8503057010425784
+                ],
+                [
+                    -0.04162696361374319,
+                    -0.9313932227156049,
+                    -0.36162668676376675
+                ]
+            ],
+            "translation_vector": [
+                0.7132919762882114,
+                -0.18029397976171718,
+                0.39799980672597185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9053011099083604,
+                    -0.18631607667606995,
+                    0.3817279397302848
+                ],
+                [
+                    -0.4228987132930935,
+                    -0.3110698053760928,
+                    0.8511123630157924
+                ],
+                [
+                    -0.039831880369084895,
+                    -0.931945221434885,
+                    -0.3604046691580816
+                ]
+            ],
+            "translation_vector": [
+                0.7125327924533958,
+                -0.17985974011065892,
+                0.39869523014610975
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9048160893816524,
+                    -0.1865990119042946,
+                    0.38273836122400196
+                ],
+                [
+                    -0.42395093426157565,
+                    -0.3110563568271486,
+                    0.8505936445895648
+                ],
+                [
+                    -0.039666733352154204,
+                    -0.9318931009690771,
+                    -0.360557621790757
+                ]
+            ],
+            "translation_vector": [
+                0.7126427726878881,
+                -0.17994503134388096,
+                0.3987017044987193
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9046021349517621,
+                    -0.18692802894033003,
+                    0.3830833974961557
+                ],
+                [
+                    -0.42440198487045255,
+                    -0.31122029569467163,
+                    0.850308698524096
+                ],
+                [
+                    -0.03972320076145349,
+                    -0.9317724183212361,
+                    -0.3608631704359159
+                ]
+            ],
+            "translation_vector": [
+                0.7127116672712733,
+                -0.18003670584148757,
+                0.3985227996920532
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9040852415291234,
+                    -0.18824026288042717,
+                    0.38366063060983263
+                ],
+                [
+                    -0.42542816827221386,
+                    -0.3113454133965296,
+                    0.8497499086187023
+                ],
+                [
+                    -0.04050616853981187,
+                    -0.9314663906913935,
+                    -0.3615655035018864
+                ]
+            ],
+            "translation_vector": [
+                0.7129598290469404,
+                -0.18033233903405727,
+                0.398119959934116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9035000178641107,
+                    -0.18989818124832036,
+                    0.38422180895692526
+                ],
+                [
+                    -0.4265614578735021,
+                    -0.31135100591727544,
+                    0.8491795297645447
+                ],
+                [
+                    -0.04162980154149711,
+                    -0.9311279352875633,
+                    -0.36230888444907716
+                ]
+            ],
+            "translation_vector": [
+                0.7132720178094493,
+                -0.18062238553107957,
+                0.39762586815976364
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9027858301876397,
+                    -0.19167628988479657,
+                    0.38501681094260537
+                ],
+                [
+                    -0.4279492376058595,
+                    -0.3111221730956093,
+                    0.8485649317764843
+                ],
+                [
+                    -0.04286251095045728,
+                    -0.9308400471102785,
+                    -0.36290441145122054
+                ]
+            ],
+            "translation_vector": [
+                0.713737485585586,
+                -0.18090963971468213,
+                0.39708956765743875
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9023886403529591,
+                    -0.19239903810290118,
+                    0.38558702247225085
+                ],
+                [
+                    -0.4287499181739142,
+                    -0.31111641048977595,
+                    0.8481627714005248
+                ],
+                [
+                    -0.04322325100914459,
+                    -0.9306928544160181,
+                    -0.3632389864967207
+                ]
+            ],
+            "translation_vector": [
+                0.7140486379170409,
+                -0.18106906660635214,
+                0.3968563841392127
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9021272652296778,
+                    -0.19293947568127948,
+                    0.38592843384888814
+                ],
+                [
+                    -0.42925949264458807,
+                    -0.31091035101148684,
+                    0.8479805667634281
+                ],
+                [
+                    -0.043619781105978826,
+                    -0.9306498333732979,
+                    -0.3633018061316507
+                ]
+            ],
+            "translation_vector": [
+                0.7142841472590498,
+                -0.18114350785493397,
+                0.39667276564549336
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9016914647157775,
+                    -0.1938497953769768,
+                    0.38649030943999063
+                ],
+                [
+                    -0.43012948760972786,
+                    -0.31107058187091313,
+                    0.847480806262351
+                ],
+                [
+                    -0.044058215434904825,
+                    -0.9304070882827558,
+                    -0.3638702017559225
+                ]
+            ],
+            "translation_vector": [
+                0.7146026188154619,
+                -0.18128861604261992,
+                0.3962553735551318
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9014744077726062,
+                    -0.19413673044665958,
+                    0.38685245510725397
+                ],
+                [
+                    -0.4305851784719805,
+                    -0.3112779581592972,
+                    0.8471732035684505
+                ],
+                [
+                    -0.04404879352810421,
+                    -0.9302778953923714,
+                    -0.36420151171166026
+                ]
+            ],
+            "translation_vector": [
+                0.7148076798328978,
+                -0.18136363758145221,
+                0.3960313731707406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9013051623089987,
+                    -0.19445043400327214,
+                    0.3870891797907667
+                ],
+                [
+                    -0.43092877591060136,
+                    -0.3113977761611686,
+                    0.8469544350755058
+                ],
+                [
+                    -0.04415194771853273,
+                    -0.930172270989529,
+                    -0.3644587106859186
+                ]
+            ],
+            "translation_vector": [
+                0.7149591096251775,
+                -0.18142369519983434,
+                0.3958494089413143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9010539877658115,
+                    -0.19493151536936923,
+                    0.387431820385381
+                ],
+                [
+                    -0.4314401108546998,
+                    -0.3116529614234971,
+                    0.8466001785858827
+                ],
+                [
+                    -0.044284781550924364,
+                    -0.9299860944937647,
+                    -0.3649174182897019
+                ]
+            ],
+            "translation_vector": [
+                0.7152506501562971,
+                -0.18149355764845793,
+                0.3955840525816843
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9008682944901262,
+                    -0.19540629867966203,
+                    0.38762442443525924
+                ],
+                [
+                    -0.4318059662364421,
+                    -0.31185732175534947,
+                    0.8463383592808452
+                ],
+                [
+                    -0.04449633136634908,
+                    -0.9298179334170185,
+                    -0.3653199791840584
+                ]
+            ],
+            "translation_vector": [
+                0.7154330801501751,
+                -0.18157947353107312,
+                0.3953522334937589
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9007082049084165,
+                    -0.19565467311799756,
+                    0.38787108489515887
+                ],
+                [
+                    -0.43213850746386046,
+                    -0.31204760302954754,
+                    0.8460984598794759
+                ],
+                [
+                    -0.04450887526735556,
+                    -0.9297018566888008,
+                    -0.3656137547902588
+                ]
+            ],
+            "translation_vector": [
+                0.7155905283109361,
+                -0.18165620368868224,
+                0.3952312822532762
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9013170547128629,
+                    -0.1951847281697585,
+                    0.38669172317626366
+                ],
+                [
+                    -0.43081874447756074,
+                    -0.31125221145675014,
+                    0.8470639115616136
+                ],
+                [
+                    -0.04497528532993233,
+                    -0.9300671926009328,
+                    -0.3646261660343525
+                ]
+            ],
+            "translation_vector": [
+                0.7150665386456616,
+                -0.18145932964436381,
+                0.3960228612590214
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9027375318414106,
+                    -0.1906937098250004,
+                    0.38561750172685005
+                ],
+                [
+                    -0.4281433217125441,
+                    -0.3108845085815324,
+                    0.84855413404035
+                ],
+                [
+                    -0.04193142828270501,
+                    -0.9311212226972371,
+                    -0.36229135231878595
+                ]
+            ],
+            "translation_vector": [
+                0.7140776957662874,
+                -0.18071336747305525,
+                0.3972913330852198
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9033081451656237,
+                    -0.18865624325805563,
+                    0.3852832941579462
+                ],
+                [
+                    -0.4270707531635751,
+                    -0.3105547243800111,
+                    0.8492151287851345
+                ],
+                [
+                    -0.040558188689065536,
+                    -0.9316461694468631,
+                    -0.36109617594935767
+                ]
+            ],
+            "translation_vector": [
+                0.7137037284496099,
+                -0.18042113140152463,
+                0.39791627211113156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9031745692723399,
+                    -0.18875766265600305,
+                    0.3855466796749339
+                ],
+                [
+                    -0.4273594817603303,
+                    -0.31065038425533215,
+                    0.8490348709632347
+                ],
+                [
+                    -0.040491613567075584,
+                    -0.931593733099712,
+                    -0.36123890388505725
+                ]
+            ],
+            "translation_vector": [
+                0.7136769484287335,
+                -0.18053798701171322,
+                0.3979089668727663
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9031856675072697,
+                    -0.18875946424685308,
+                    0.3855197980216951
+                ],
+                [
+                    -0.4273365191410282,
+                    -0.3106883644142702,
+                    0.8490325315475344
+                ],
+                [
+                    -0.04048641028638181,
+                    -0.9315807022876904,
+                    -0.36127309020642007
+                ]
+            ],
+            "translation_vector": [
+                0.7136704808340556,
+                -0.18052812978828203,
+                0.3978927975045418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.903125257372051,
+                    -0.1888190607891714,
+                    0.3856321197454405
+                ],
+                [
+                    -0.4274640972801682,
+                    -0.31069444522015977,
+                    0.8489660813282166
+                ],
+                [
+                    -0.04048722061487324,
+                    -0.9315665966489097,
+                    -0.36130937017305575
+                ]
+            ],
+            "translation_vector": [
+                0.71369893319563,
+                -0.1805547884662583,
+                0.39787284023089187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9029150923371383,
+                    -0.1894333754699517,
+                    0.3858229286704944
+                ],
+                [
+                    -0.4278683657539944,
+                    -0.31071332479240904,
+                    0.8487554956425631
+                ],
+                [
+                    -0.040902293539888876,
+                    -0.9314355726804229,
+                    -0.3616002991269082
+                ]
+            ],
+            "translation_vector": [
+                0.7138007518638415,
+                -0.18067665337229039,
+                0.39769529295176886
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9026613596009166,
+                    -0.19015590207760946,
+                    0.38606113866650094
+                ],
+                [
+                    -0.4283569139637413,
+                    -0.31073171760610263,
+                    0.84850230048776
+                ],
+                [
+                    -0.04138627964536724,
+                    -0.9312821981432974,
+                    -0.3619401100714089
+                ]
+            ],
+            "translation_vector": [
+                0.7139256015814083,
+                -0.18081940596968388,
+                0.39750001599801904
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9024909054589084,
+                    -0.19069600084825894,
+                    0.38619321695809306
+                ],
+                [
+                    -0.42868173944342686,
+                    -0.3108049000087677,
+                    0.8483114288976061
+                ],
+                [
+                    -0.04173885278392117,
+                    -0.9311473295837888,
+                    -0.36224648897851497
+                ]
+            ],
+            "translation_vector": [
+                0.7139994272274722,
+                -0.18092130810393328,
+                0.397323645900649
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9022332171511676,
+                    -0.1914011748704214,
+                    0.3864463897195531
+                ],
+                [
+                    -0.4291802439026988,
+                    -0.3108608034380883,
+                    0.8480388429367174
+                ],
+                [
+                    -0.0421845956798715,
+                    -0.9309839693271034,
+                    -0.36261454568629364
+                ]
+            ],
+            "translation_vector": [
+                0.7141312495909226,
+                -0.18106397699274487,
+                0.39712008393857057
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9020958057999731,
+                    -0.19170738991769834,
+                    0.3866153564061326
+                ],
+                [
+                    -0.42945311916059237,
+                    -0.31090318333695455,
+                    0.8478851508513319
+                ],
+                [
+                    -0.04234590418606486,
+                    -0.9309068091070618,
+                    -0.3627937942644182
+                ]
+            ],
+            "translation_vector": [
+                0.7142109279529725,
+                -0.18114401803181193,
+                0.39702772501610173
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9019692039238929,
+                    -0.19194718196537996,
+                    0.3867917198033695
+                ],
+                [
+                    -0.4297054469260813,
+                    -0.31087496183806024,
+                    0.8477676491729569
+                ],
+                [
+                    -0.042482750087013674,
+                    -0.9308668204623766,
+                    -0.36288039146158113
+                ]
+            ],
+            "translation_vector": [
+                0.7143070662675047,
+                -0.1812238089988355,
+                0.3969783485223889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9017086113762539,
+                    -0.19268193188953336,
+                    0.387033917497195
+                ],
+                [
+                    -0.4302055738975246,
+                    -0.31094265963447054,
+                    0.8474891306718592
+                ],
+                [
+                    -0.04295048727790895,
+                    -0.9306923957692786,
+                    -0.36327251492485796
+                ]
+            ],
+            "translation_vector": [
+                0.7144572253162725,
+                -0.1813745468640497,
+                0.39677465413114565
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9015725794522158,
+                    -0.19303697073730205,
+                    0.3871738781328675
+                ],
+                [
+                    -0.4304677921107046,
+                    -0.3109511171418852,
+                    0.8473528678794622
+                ],
+                [
+                    -0.04317828082744538,
+                    -0.9306159952831137,
+                    -0.3634411993541826
+                ]
+            ],
+            "translation_vector": [
+                0.7145351996265795,
+                -0.18144795803701216,
+                0.39666935697103656
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9014227181937123,
+                    -0.19347397047117126,
+                    0.3873046680255475
+                ],
+                [
+                    -0.43075163273114353,
+                    -0.31096105203553076,
+                    0.8472049663549015
+                ],
+                [
+                    -0.04347544161608165,
+                    -0.9305219217552461,
+                    -0.3636465854496786
+                ]
+            ],
+            "translation_vector": [
+                0.7146170112429023,
+                -0.18152735486085209,
+                0.3965508765713668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9013249780719151,
+                    -0.19377409275711574,
+                    0.3873820915837723
+                ],
+                [
+                    -0.4309321191912175,
+                    -0.3109070313586232,
+                    0.8471330040206994
+                ],
+                [
+                    -0.04371261320291612,
+                    -0.930477521935874,
+                    -0.3637317536578948
+                ]
+            ],
+            "translation_vector": [
+                0.7146868630073576,
+                -0.18156171129703255,
+                0.39646806783837146
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9012232576319784,
+                    -0.1940938904580432,
+                    0.38745864500623295
+                ],
+                [
+                    -0.4311231767706819,
+                    -0.31094058342002373,
+                    0.8470234707690046
+                ],
+                [
+                    -0.0439254636214608,
+                    -0.9303996535195382,
+                    -0.36390526016583397
+                ]
+            ],
+            "translation_vector": [
+                0.7147354397187555,
+                -0.18161531791837043,
+                0.3963711273752045
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9011594545679621,
+                    -0.1942369901966078,
+                    0.38753532623766823
+                ],
+                [
+                    -0.4312480063340278,
+                    -0.3109437621707107,
+                    0.8469587556664439
+                ],
+                [
+                    -0.04400902720691992,
+                    -0.9303687271219339,
+                    -0.36397422589767703
+                ]
+            ],
+            "translation_vector": [
+                0.7147910965205014,
+                -0.18165055529052773,
+                0.3963316278875824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9010513798663209,
+                    -0.19460924130665677,
+                    0.3875998633114393
+                ],
+                [
+                    -0.43144486523670744,
+                    -0.31092895956333794,
+                    0.8468639267118062
+                ],
+                [
+                    -0.04429152404104288,
+                    -0.9302958805148541,
+                    -0.36412612594431354
+                ]
+            ],
+            "translation_vector": [
+                0.7148649155667417,
+                -0.18168932089625314,
+                0.39622223279841634
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9009771810163684,
+                    -0.1950688079494996,
+                    0.3875413261227235
+                ],
+                [
+                    -0.43156260183931844,
+                    -0.31100469805874753,
+                    0.8467761206358295
+                ],
+                [
+                    -0.044652435336448734,
+                    -0.9301743051442284,
+                    -0.3643925384361976
+                ]
+            ],
+            "translation_vector": [
+                0.7148678858304037,
+                -0.1817682927491207,
+                0.3961589011080048
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9007132323853989,
+                    -0.195639727299881,
+                    0.38786694897590235
+                ],
+                [
+                    -0.43209370656056056,
+                    -0.3113108413669683,
+                    0.8463926918388102
+                ],
+                [
+                    -0.044840849195829854,
+                    -0.9299519649688468,
+                    -0.3649364891237629
+                ]
+            ],
+            "translation_vector": [
+                0.7148417886745325,
+                -0.18200940356698783,
+                0.3960077594638681
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9005654608371684,
+                    -0.19596599760442826,
+                    0.3880453305092589
+                ],
+                [
+                    -0.4323924120539285,
+                    -0.3115328351052249,
+                    0.8461584335391846
+                ],
+                [
+                    -0.044929419597013145,
+                    -0.9298089160866346,
+                    -0.36528992159717955
+                ]
+            ],
+            "translation_vector": [
+                0.7148181113987134,
+                -0.1821277525858579,
+                0.3959014812614872
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9003681643048387,
+                    -0.1963440042100544,
+                    0.38831198889178936
+                ],
+                [
+                    -0.4327966918868445,
+                    -0.31182500525658424,
+                    0.8458440693109663
+                ],
+                [
+                    -0.04499102352846501,
+                    -0.9296312161860172,
+                    -0.36573434306114566
+                ]
+            ],
+            "translation_vector": [
+                0.7148045818677231,
+                -0.18231511770887596,
+                0.3957925217382101
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9001255061095452,
+                    -0.19679044644837843,
+                    0.38864841880250023
+                ],
+                [
+                    -0.4332878619169895,
+                    -0.3120320320640645,
+                    0.8455161971726946
+                ],
+                [
+                    -0.04511875404351993,
+                    -0.9294673373242435,
+                    -0.3661349025713635
+                ]
+            ],
+            "translation_vector": [
+                0.714808013445639,
+                -0.1825048397682163,
+                0.39567068004337447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8999885245566848,
+                    -0.1971846238049564,
+                    0.3887658418652279
+                ],
+                [
+                    -0.43355779665133154,
+                    -0.3123137647964454,
+                    0.8452737717932062
+                ],
+                [
+                    -0.04525806700605111,
+                    -0.9292891565350198,
+                    -0.36656973540829485
+                ]
+            ],
+            "translation_vector": [
+                0.7147689322973402,
+                -0.1826307892582311,
+                0.3955288589140439
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.8997573202244427,
+                    -0.19775536433239072,
+                    0.3890110288671688
+                ],
+                [
+                    -0.43401253547137686,
+                    -0.31257730911154463,
+                    0.8449429240382411
+                ],
+                [
+                    -0.045495975165244854,
+                    -0.9290792440402215,
+                    -0.36707202908613734
+                ]
+            ],
+            "translation_vector": [
+                0.7147732362494916,
+                -0.18283623950688643,
+                0.39539220867606417
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.899699323929818,
+                    -0.2007271438988011,
+                    0.3876206137739046
+                ],
+                [
+                    -0.4337586089037419,
+                    -0.31156618981719525,
+                    0.8454466148519881
+                ],
+                [
+                    -0.048934606590011184,
+                    -0.9287815260140704,
+                    -0.367383017044685
+                ]
+            ],
+            "translation_vector": [
+                0.7148714477608404,
+                -0.18318417712072183,
+                0.3954623755516586
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9005486307025001,
+                    -0.20274200758548566,
+                    0.38458788605474753
+                ],
+                [
+                    -0.4316585649496341,
+                    -0.3115718474479022,
+                    0.8465186750353025
+                ],
+                [
+                    -0.051798137471101534,
+                    -0.9283418886585418,
+                    -0.36810092463401506
+                ]
+            ],
+            "translation_vector": [
+                0.714362916836083,
+                -0.18436717108934506,
+                0.3962062423186322
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9013784029443446,
+                    -0.20240118874798366,
+                    0.38281945287420593
+                ],
+                [
+                    -0.4299267339035768,
+                    -0.31260033026329626,
+                    0.8470206827429195
+                ],
+                [
+                    -0.05176850568160447,
+                    -0.9280704673206026,
+                    -0.3687888684692266
+                ]
+            ],
+            "translation_vector": [
+                0.7137939567793895,
+                -0.18538616250463533,
+                0.3969560006151408
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9021996152474414,
+                    -0.2030334077264746,
+                    0.38054341354744853
+                ],
+                [
+                    -0.4280528966543523,
+                    -0.3131074868509637,
+                    0.8477820588710829
+                ],
+                [
+                    -0.05297708856843401,
+                    -0.927761357798895,
+                    -0.36939449246295425
+                ]
+            ],
+            "translation_vector": [
+                0.7133078051291426,
+                -0.18654753719029815,
+                0.3978853328680847
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9038533536456824,
+                    -0.20289117807506754,
+                    0.3766753044238027
+                ],
+                [
+                    -0.4244350646567718,
+                    -0.3143200469418623,
+                    0.8491512138484334
+                ],
+                [
+                    -0.053888690773252285,
+                    -0.9273823795769343,
+                    -0.3702133588310504
+                ]
+            ],
+            "translation_vector": [
+                0.7122818337323872,
+                -0.1878794337965277,
+                0.39892160502313
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9050315601706105,
+                    -0.20219089873937884,
+                    0.3742147986946978
+                ],
+                [
+                    -0.4219167239107408,
+                    -0.31527935896070625,
+                    0.8500501184622903
+                ],
+                [
+                    -0.053890195579331966,
+                    -0.9272096668393229,
+                    -0.3706454917304849
+                ]
+            ],
+            "translation_vector": [
+                0.7115607607059387,
+                -0.18860868316862686,
+                0.3995733646508751
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9061368889854466,
+                    -0.20216363285370978,
+                    0.3715451573781666
+                ],
+                [
+                    -0.4194251570198547,
+                    -0.3157260769996515,
+                    0.851116667655663
+                ],
+                [
+                    -0.054758342548385665,
+                    -0.9270635953664671,
+                    -0.37088355863741534
+                ]
+            ],
+            "translation_vector": [
+                0.7109230124584683,
+                -0.18942692110326284,
+                0.40041491144928093
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9077156410717204,
+                    -0.20153378629926771,
+                    0.3680169125646764
+                ],
+                [
+                    -0.41593339385205086,
+                    -0.3167170977720601,
+                    0.8524609620724917
+                ],
+                [
+                    -0.05524243688026747,
+                    -0.9268626721142267,
+                    -0.37131369515384866
+                ]
+            ],
+            "translation_vector": [
+                0.710000684746374,
+                -0.19025556152403905,
+                0.40133674667277547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9088808087539475,
+                    -0.20142541901401192,
+                    0.3651896439574934
+                ],
+                [
+                    -0.4132818407814231,
+                    -0.3174551576833936,
+                    0.8534754495241974
+                ],
+                [
+                    -0.05598031403171516,
+                    -0.9266337051042565,
+                    -0.37177436840867484
+                ]
+            ],
+            "translation_vector": [
+                0.7093271651294513,
+                -0.19094855677025152,
+                0.4020364811427172
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9101199670329425,
+                    -0.20193872089690057,
+                    0.36180436510700004
+                ],
+                [
+                    -0.4103314087592626,
+                    -0.31802655791570955,
+                    0.8546854646277336
+                ],
+                [
+                    -0.05753069262223971,
+                    -0.9263260017201339,
+                    -0.3723041202345145
+                ]
+            ],
+            "translation_vector": [
+                0.708603587213979,
+                -0.19173197452826826,
+                0.40280540708301044
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9117163350761529,
+                    -0.20306827693877458,
+                    0.35712266695972383
+                ],
+                [
+                    -0.40645406415171914,
+                    -0.3194699844728884,
+                    0.8559988450666526
+                ],
+                [
+                    -0.0597362376607267,
+                    -0.9255820892400686,
+                    -0.37380392987250893
+                ]
+            ],
+            "translation_vector": [
+                0.7076063296543338,
+                -0.19307814671644444,
+                0.4038941760136091
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9131117745519057,
+                    -0.20333389267322777,
+                    0.3533867785656711
+                ],
+                [
+                    -0.4031459408423771,
+                    -0.3209730807115582,
+                    0.8570003686351871
+                ],
+                [
+                    -0.060829577978027044,
+                    -0.925003572722227,
+                    -0.37505753277881426
+                ]
+            ],
+            "translation_vector": [
+                0.7066923182845488,
+                -0.19421450296248421,
+                0.404799742625187
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9140164548713705,
+                    -0.2040376628913581,
+                    0.3506316476677553
+                ],
+                [
+                    -0.4009101256072946,
+                    -0.3221973436183764,
+                    0.8575896121985187
+                ],
+                [
+                    -0.06200799472580665,
+                    -0.9244227949845758,
+                    -0.37629443884143426
+                ]
+            ],
+            "translation_vector": [
+                0.7060501415944559,
+                -0.19529312875393562,
+                0.4055624848628982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9161809494047315,
+                    -0.20440113472553895,
+                    0.34472111056730687
+                ],
+                [
+                    -0.3956552071929369,
+                    -0.32440360282209635,
+                    0.8591968688823057
+                ],
+                [
+                    -0.06379204471530478,
+                    -0.9235705054834504,
+                    -0.37808477413416813
+                ]
+            ],
+            "translation_vector": [
+                0.7046045260571862,
+                -0.19699046514493718,
+                0.40705472153918987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9171159452198597,
+                    -0.20416267003417668,
+                    0.34236814569699525
+                ],
+                [
+                    -0.3934465431019603,
+                    -0.3256920133098795,
+                    0.8597235196196941
+                ],
+                [
+                    -0.06401687859151212,
+                    -0.9231697117164717,
+                    -0.37902443539266234
+                ]
+            ],
+            "translation_vector": [
+                0.7039478728927345,
+                -0.19771650296650076,
+                0.40767842088965256
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9188667661057206,
+                    -0.20439758896273683,
+                    0.33749887669833045
+                ],
+                [
+                    -0.3890902730030395,
+                    -0.32735802924012974,
+                    0.8610722850878656
+                ],
+                [
+                    -0.06551813184787109,
+                    -0.9225282360547228,
+                    -0.38032752737729425
+                ]
+            ],
+            "translation_vector": [
+                0.7027848799328116,
+                -0.19887586357036244,
+                0.40878984062083534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9205471116851325,
+                    -0.20437911729042588,
+                    0.3328996719489917
+                ],
+                [
+                    -0.38490821148648546,
+                    -0.32922830694342853,
+                    0.8622380127536934
+                ],
+                [
+                    -0.06662344856306136,
+                    -0.9218665295598651,
+                    -0.3817373675432039
+                ]
+            ],
+            "translation_vector": [
+                0.7016234656334716,
+                -0.20009643924615195,
+                0.40994919400177654
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9222273874518906,
+                    -0.20410536017706035,
+                    0.3283864305671794
+                ],
+                [
+                    -0.38072436924720815,
+                    -0.3312728186720577,
+                    0.8633118059371048
+                ],
+                [
+                    -0.0674210686282556,
+                    -0.9211945079927814,
+                    -0.38321675061114113
+                ]
+            ],
+            "translation_vector": [
+                0.7004380182668293,
+                -0.20128529667793263,
+                0.41102025520820007
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9234371583389436,
+                    -0.20486895063018162,
+                    0.3244881009630173
+                ],
+                [
+                    -0.37750590380289695,
+                    -0.33305407868000186,
+                    0.8640395090900492
+                ],
+                [
+                    -0.06894278202143454,
+                    -0.9203823627940203,
+                    -0.3848937503582536
+                ]
+            ],
+            "translation_vector": [
+                0.6994749911698813,
+                -0.20260887617612233,
+                0.4120689899898491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9245458302651903,
+                    -0.2050623810800041,
+                    0.32119219729789433
+                ],
+                [
+                    -0.37459006354229707,
+                    -0.33427074333922463,
+                    0.8648383400629392
+                ],
+                [
+                    -0.06998065471705865,
+                    -0.9198980867537673,
+                    -0.3858629522928192
+                ]
+            ],
+            "translation_vector": [
+                0.6986812761501591,
+                -0.20335361779581548,
+                0.4127765335428117
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9258554421939256,
+                    -0.20561553070802768,
+                    0.31703935669179484
+                ],
+                [
+                    -0.37106281737347363,
+                    -0.3360777844359351,
+                    0.8656581937297732
+                ],
+                [
+                    -0.07144288433952736,
+                    -0.9191158666568048,
+                    -0.3874557238407501
+                ]
+            ],
+            "translation_vector": [
+                0.6976730167301436,
+                -0.20447847074823605,
+                0.4137249039671421
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9272274003122019,
+                    -0.20596062574724022,
+                    0.3127771870710547
+                ],
+                [
+                    -0.36738173025235993,
+                    -0.3381990860271154,
+                    0.8664017789035331
+                ],
+                [
+                    -0.07266369373393089,
+                    -0.91826009324822,
+                    -0.38925363037576466
+                ]
+            ],
+            "translation_vector": [
+                0.6965840966140653,
+                -0.20561108375791487,
+                0.4146916885211265
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9284297576469607,
+                    -0.2054658399596387,
+                    0.30951893920289647
+                ],
+                [
+                    -0.3642714848888222,
+                    -0.33983470477187827,
+                    0.8670747711296317
+                ],
+                [
+                    -0.07296896883264001,
+                    -0.9177669432063299,
+                    -0.39035799920740794
+                ]
+            ],
+            "translation_vector": [
+                0.6956876689332832,
+                -0.2063589520779803,
+                0.41545917907668845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9291352967092795,
+                    -0.2052443062266943,
+                    0.30754247701818727
+                ],
+                [
+                    -0.3624575158565896,
+                    -0.3413366607945206,
+                    0.8672449672363148
+                ],
+                [
+                    -0.07302156947114596,
+                    -0.9172589921931371,
+                    -0.3915402809837082
+                ]
+            ],
+            "translation_vector": [
+                0.6950977171605581,
+                -0.20715040305785615,
+                0.4161269695717237
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.930325988073745,
+                    -0.20691059220895985,
+                    0.3027896344763923
+                ],
+                [
+                    -0.35878256559308125,
+                    -0.3425166327534705,
+                    0.8683072191993284
+                ],
+                [
+                    -0.07595147491034013,
+                    -0.9164444135456126,
+                    -0.3928880379191789
+                ]
+            ],
+            "translation_vector": [
+                0.6942231090225022,
+                -0.2079388785601296,
+                0.4168718082543537
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9315051003253804,
+                    -0.207972611749634,
+                    0.2984051622037385
+                ],
+                [
+                    -0.355301063363838,
+                    -0.34469920206191124,
+                    0.8688749130170624
+                ],
+                [
+                    -0.07784216364111071,
+                    -0.9153850844644116,
+                    -0.3949819549039586
+                ]
+            ],
+            "translation_vector": [
+                0.6932251372584326,
+                -0.2091264864506002,
+                0.417754579010974
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.932427406838108,
+                    -0.2079630271776375,
+                    0.29551736041098325
+                ],
+                [
+                    -0.35274894046022354,
+                    -0.34639311225931096,
+                    0.8692410464212436
+                ],
+                [
+                    -0.07840482116140207,
+                    -0.9147476106043799,
+                    -0.3963451689023431
+                ]
+            ],
+            "translation_vector": [
+                0.6924381643750149,
+                -0.21002613772450884,
+                0.4185480254857376
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9337977520841767,
+                    -0.20919811045687167,
+                    0.29027212884431985
+                ],
+                [
+                    -0.34854712749836525,
+                    -0.34853334032574473,
+                    0.8700801173420857
+                ],
+                [
+                    -0.08084960182448168,
+                    -0.9136523744086991,
+                    -0.3983750502003981
+                ]
+            ],
+            "translation_vector": [
+                0.6913006255673091,
+                -0.21122236664564512,
+                0.41960271840783275
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9349316771520689,
+                    -0.20895182912906146,
+                    0.28677847227649217
+                ],
+                [
+                    -0.3454089061954969,
+                    -0.3509664000016012,
+                    0.8703535336808523
+                ],
+                [
+                    -0.08121235483871685,
+                    -0.9127769273889079,
+                    -0.4003034277245384
+                ]
+            ],
+            "translation_vector": [
+                0.6902910785082976,
+                -0.21213343140558727,
+                0.42035081155391935
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9356612527299131,
+                    -0.20862023879079353,
+                    0.28463242279607204
+                ],
+                [
+                    -0.3434244575486362,
+                    -0.35263265366518687,
+                    0.8704653086289387
+                ],
+                [
+                    -0.08122599397554053,
+                    -0.9122103965291783,
+                    -0.40159000282223756
+                ]
+            ],
+            "translation_vector": [
+                0.689625099667717,
+                -0.2127963455988949,
+                0.4209146967470589
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9366374066145212,
+                    -0.20918279123448857,
+                    0.28098563732292886
+                ],
+                [
+                    -0.34037400059833434,
+                    -0.3538675379250442,
+                    0.8711620430893168
+                ],
+                [
+                    -0.08280041211919885,
+                    -0.9116031622664633,
+                    -0.40264595651598817
+                ]
+            ],
+            "translation_vector": [
+                0.6888331131220176,
+                -0.21335905897717472,
+                0.42155435357677873
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9375209511305103,
+                    -0.20985042075544721,
+                    0.27751984992087614
+                ],
+                [
+                    -0.33757708694795874,
+                    -0.3555151240667294,
+                    0.8715794323683577
+                ],
+                [
+                    -0.08423880672869336,
+                    -0.9108083209262968,
+                    -0.4041435709897488
+                ]
+            ],
+            "translation_vector": [
+                0.6880477304951488,
+                -0.21398951514112927,
+                0.4220763715721864
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9383595544005895,
+                    -0.2110510364699051,
+                    0.2737495327303877
+                ],
+                [
+                    -0.33471806878725385,
+                    -0.3571066285962665,
+                    0.872031347051205
+                ],
+                [
+                    -0.08628534691625224,
+                    -0.9099078611692433,
+                    -0.40573701222584446
+                ]
+            ],
+            "translation_vector": [
+                0.6872706228295937,
+                -0.2148130359906173,
+                0.42277228704534203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9392094880882557,
+                    -0.21186555347169936,
+                    0.2701823916119019
+                ],
+                [
+                    -0.3319377178995659,
+                    -0.3591462507582145,
+                    0.8722564542621315
+                ],
+                [
+                    -0.08776610348320625,
+                    -0.9089152643775151,
+                    -0.40763973464436337
+                ]
+            ],
+            "translation_vector": [
+                0.6864265425086843,
+                -0.21580188377690626,
+                0.4235743637017154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9402441261506455,
+                    -0.21255684364493288,
+                    0.26600859282909045
+                ],
+                [
+                    -0.3285445838149724,
+                    -0.36112929489438617,
+                    0.8727222288992816
+                ],
+                [
+                    -0.0894395867893846,
+                    -0.9079676319058886,
+                    -0.40938409803771947
+                ]
+            ],
+            "translation_vector": [
+                0.6854445252435196,
+                -0.21660165181721755,
+                0.42428920733336617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9409331563730925,
+                    -0.21240472908300895,
+                    0.26368357230010253
+                ],
+                [
+                    -0.3264917847539311,
+                    -0.362834763021023,
+                    0.8727852251451504
+                ],
+                [
+                    -0.08971014282656418,
+                    -0.9073230768621793,
+                    -0.41075165789974094
+                ]
+            ],
+            "translation_vector": [
+                0.6847659791617906,
+                -0.21723579214071245,
+                0.42481795632716807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9420706295944625,
+                    -0.2133372885361041,
+                    0.25882451617950786
+                ],
+                [
+                    -0.32257063714541984,
+                    -0.36475616300051544,
+                    0.8734421134824788
+                ],
+                [
+                    -0.09192993477149408,
+                    -0.9063333508556356,
+                    -0.4124424132163233
+                ]
+            ],
+            "translation_vector": [
+                0.6837005163987487,
+                -0.21818854991305722,
+                0.4258661348762044
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9426218941538215,
+                    -0.21363795763869034,
+                    0.25655952080917127
+                ],
+                [
+                    -0.3207987126267438,
+                    -0.36672224941575754,
+                    0.8732714227320569
+                ],
+                [
+                    -0.09247783863654184,
+                    -0.9054687265938103,
+                    -0.4142152031513301
+                ]
+            ],
+            "translation_vector": [
+                0.6830368648480962,
+                -0.21905048741387645,
+                0.4265105514557541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9432934917245751,
+                    -0.21483817809372407,
+                    0.25306510170987295
+                ],
+                [
+                    -0.31820039136616607,
+                    -0.36797104456513824,
+                    0.8736966414586127
+                ],
+                [
+                    -0.09458276483840908,
+                    -0.9046777700347292,
+                    -0.41546628383120543
+                ]
+            ],
+            "translation_vector": [
+                0.6823362697958367,
+                -0.2197139233191022,
+                0.427142330467617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9444735353430633,
+                    -0.2156616889604716,
+                    0.2479108245948372
+                ],
+                [
+                    -0.314016605358104,
+                    -0.370216029381309,
+                    0.8742617818185296
+                ],
+                [
+                    -0.09676421133842854,
+                    -0.9035652314602718,
+                    -0.4173805935835989
+                ]
+            ],
+            "translation_vector": [
+                0.6811653657617551,
+                -0.2205645992321636,
+                0.4280549291288523
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9454641700068238,
+                    -0.21698077837860635,
+                    0.24293382853674841
+                ],
+                [
+                    -0.31024546743015574,
+                    -0.3726893943527406,
+                    0.874557239565274
+                ],
+                [
+                    -0.09922324915236512,
+                    -0.9022316538180214,
+                    -0.4196817719134894
+                ]
+            ],
+            "translation_vector": [
+                0.6800252816860649,
+                -0.22164243276000367,
+                0.4290098849163577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9464076204854853,
+                    -0.21658581194486737,
+                    0.2395896532640436
+                ],
+                [
+                    -0.30726954084487884,
+                    -0.37528655627712026,
+                    0.8744972441046557
+                ],
+                [
+                    -0.09948891976486345,
+                    -0.901249458663828,
+                    -0.42172427971623594
+                ]
+            ],
+            "translation_vector": [
+                0.6790015230749993,
+                -0.22252175446349876,
+                0.4298867366697525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9474232618717441,
+                    -0.21686068044766163,
+                    0.2352883510505394
+                ],
+                [
+                    -0.3036998312959198,
+                    -0.377839450304924,
+                    0.8746449349673858
+                ],
+                [
+                    -0.10077487452304022,
+                    -0.9001159897863441,
+                    -0.42383443653839104
+                ]
+            ],
+            "translation_vector": [
+                0.6778671373239865,
+                -0.2235606242556159,
+                0.43094595229540406
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9482978474752334,
+                    -0.2175396608610277,
+                    0.23110103510436228
+                ],
+                [
+                    -0.3003255573208179,
+                    -0.3795625322595551,
+                    0.8750639083659285
+                ],
+                [
+                    -0.10264381176563347,
+                    -0.8992267678718106,
+                    -0.42527105221145484
+                ]
+            ],
+            "translation_vector": [
+                0.6769581939999946,
+                -0.22410550288145914,
+                0.4315475454649161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9490480201549725,
+                    -0.219067387085276,
+                    0.22653329855797544
+                ],
+                [
+                    -0.29708896930114587,
+                    -0.38222336976417204,
+                    0.8750105370369571
+                ],
+                [
+                    -0.1050999512821476,
+                    -0.8977275619706409,
+                    -0.4278308365683091
+                ]
+            ],
+            "translation_vector": [
+                0.6759558836286315,
+                -0.22510226770906688,
+                0.4323588682561395
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9500867750077308,
+                    -0.21929114862252758,
+                    0.22191555171105573
+                ],
+                [
+                    -0.2932573545775425,
+                    -0.38498107991612873,
+                    0.8750941047069126
+                ],
+                [
+                    -0.1064671026260755,
+                    -0.8964937034036681,
+                    -0.4300741747838214
+                ]
+            ],
+            "translation_vector": [
+                0.6747877898433509,
+                -0.22597272295685578,
+                0.4332652095590564
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9505717098378373,
+                    -0.2199512761089016,
+                    0.2191685666194771
+                ],
+                [
+                    -0.2912495671370059,
+                    -0.3868988179390105,
+                    0.8749188501340585
+                ],
+                [
+                    -0.10764345822425606,
+                    -0.8955058574992473,
+                    -0.431835784860473
+                ]
+            ],
+            "translation_vector": [
+                0.6741090132718093,
+                -0.22674839361160257,
+                0.4340078794469569
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9514508472230431,
+                    -0.2194860567183337,
+                    0.21579424511508785
+                ],
+                [
+                    -0.2882913639352715,
+                    -0.3898277395051791,
+                    0.8745984352790848
+                ],
+                [
+                    -0.10783957899998975,
+                    -0.8943490394798438,
+                    -0.434177867679349
+                ]
+            ],
+            "translation_vector": [
+                0.6730788733673437,
+                -0.22757987502365945,
+                0.4347615863349452
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9520205804225077,
+                    -0.22064250300448532,
+                    0.21207003635569896
+                ],
+                [
+                    -0.2856856433910563,
+                    -0.3922804469232782,
+                    0.8743567716452543
+                ],
+                [
+                    -0.10972933797408067,
+                    -0.8929910060183075,
+                    -0.43649345419854935
+                ]
+            ],
+            "translation_vector": [
+                0.6722101681191274,
+                -0.22852554489146515,
+                0.43557010127112455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.952654344289432,
+                    -0.22122304463659975,
+                    0.20859066332936724
+                ],
+                [
+                    -0.28296518481586114,
+                    -0.3940017494462285,
+                    0.8744674525763877
+                ],
+                [
+                    -0.11126726602463992,
+                    -0.8920891132364661,
+                    -0.4379458979787089
+                ]
+            ],
+            "translation_vector": [
+                0.6714159527166299,
+                -0.22897583477622657,
+                0.43599774144031805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9532606057445295,
+                    -0.2219162551493765,
+                    0.20505461037501618
+                ],
+                [
+                    -0.28030118321557207,
+                    -0.39613027903820136,
+                    0.8743637965498499
+                ],
+                [
+                    -0.1128071993426091,
+                    -0.8909736122521215,
+                    -0.43981877864284424
+                ]
+            ],
+            "translation_vector": [
+                0.6705969121912856,
+                -0.22955809901010532,
+                0.4365043630567853
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9540422065500412,
+                    -0.22270931845685277,
+                    0.20050942021165238
+                ],
+                [
+                    -0.27684373496937775,
+                    -0.39886417381841516,
+                    0.8742224643947092
+                ],
+                [
+                    -0.11472146498948557,
+                    -0.8895549057346813,
+                    -0.44218893603755965
+                ]
+            ],
+            "translation_vector": [
+                0.6695199691073942,
+                -0.23040567183523072,
+                0.43732789081543266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9543413222350834,
+                    -0.2236018391796783,
+                    0.19807790939440412
+                ],
+                [
+                    -0.2751772164438041,
+                    -0.4000501590134022,
+                    0.8742067088644376
+                ],
+                [
+                    -0.11623312877502812,
+                    -0.8887981141906283,
+                    -0.4433145294103847
+                ]
+            ],
+            "translation_vector": [
+                0.6690400002695381,
+                -0.23078736939617725,
+                0.4377196072310889
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.95547436008445,
+                    -0.22340925516044466,
+                    0.19276164538067797
+                ],
+                [
+                    -0.2707298050258273,
+                    -0.4039032815345449,
+                    0.87382350153581
+                ],
+                [
+                    -0.11736319649655283,
+                    -0.8871022736270502,
+                    -0.4464027735507812
+                ]
+            ],
+            "translation_vector": [
+                0.6675583167911022,
+                -0.231767499083298,
+                0.4386117641390688
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9558615835614485,
+                    -0.22374786277335196,
+                    0.19043509911714734
+                ],
+                [
+                    -0.2689900313717487,
+                    -0.4056428067673226,
+                    0.8735549646934384
+                ],
+                [
+                    -0.11820742825231485,
+                    -0.8862227751656386,
+                    -0.4479243202636891
+                ]
+            ],
+            "translation_vector": [
+                0.6669585777676417,
+                -0.232314781823422,
+                0.43912907634642034
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9565296667071431,
+                    -0.2244380176606663,
+                    0.1862218379720068
+                ],
+                [
+                    -0.2657682990716843,
+                    -0.40792967589562384,
+                    0.873476153499473
+                ],
+                [
+                    -0.12007584235667748,
+                    -0.8849977151113113,
+                    -0.44984534712508994
+                ]
+            ],
+            "translation_vector": [
+                0.6659649566471211,
+                -0.23292588889765065,
+                0.4398236445472321
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9567743036816786,
+                    -0.2261686341922805,
+                    0.1828405882785276
+                ],
+                [
+                    -0.2637572342255658,
+                    -0.40989952548089353,
+                    0.8731635015300506
+                ],
+                [
+                    -0.12253592619358486,
+                    -0.8836459290451902,
+                    -0.4518349464945618
+                ]
+            ],
+            "translation_vector": [
+                0.6652991222105785,
+                -0.23356740427419784,
+                0.4403628362565925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9573857537050408,
+                    -0.2272569405676108,
+                    0.17823243690888788
+                ],
+                [
+                    -0.2604046897307183,
+                    -0.4123400597502411,
+                    0.8730206599453509
+                ],
+                [
+                    -0.12490763054705509,
+                    -0.8822301049550606,
+                    -0.4539472719844269
+                ]
+            ],
+            "translation_vector": [
+                0.6642728986451427,
+                -0.2343065466610278,
+                0.44113846540588014
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9578539884030344,
+                    -0.22835463220367266,
+                    0.17426961539960292
+                ],
+                [
+                    -0.2576825011814845,
+                    -0.414951661922645,
+                    0.8725908817151882
+                ],
+                [
+                    -0.12694670332566474,
+                    -0.8807208866711181,
+                    -0.4563060971496932
+                ]
+            ],
+            "translation_vector": [
+                0.6633467944305186,
+                -0.23506127720982808,
+                0.4418426002669669
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9581956216556609,
+                    -0.22963087535979088,
+                    0.17067750795408818
+                ],
+                [
+                    -0.255331458814458,
+                    -0.4171248833187002,
+                    0.87224576688915
+                ],
+                [
+                    -0.129100723389152,
+                    -0.8793614119336014,
+                    -0.45831922327406327
+                ]
+            ],
+            "translation_vector": [
+                0.6625596800222311,
+                -0.23570073479146678,
+                0.4424205019393177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9588916569750693,
+                    -0.2314393776148199,
+                    0.16420293746724107
+                ],
+                [
+                    -0.25085151171555337,
+                    -0.4208055638544886,
+                    0.8717776072480454
+                ],
+                [
+                    -0.13266615715255878,
+                    -0.8771308294196315,
+                    -0.46156386213394324
+                ]
+            ],
+            "translation_vector": [
+                0.661110890041712,
+                -0.2367107170417114,
+                0.4433532320478136
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9594638450400305,
+                    -0.23149038190685373,
+                    0.16075239701360589
+                ],
+                [
+                    -0.24815243727984493,
+                    -0.4235154421783157,
+                    0.8712376473205108
+                ],
+                [
+                    -0.13360201320741233,
+                    -0.8758121221592706,
+                    -0.46379265706326317
+                ]
+            ],
+            "translation_vector": [
+                0.6601527609910048,
+                -0.2373728460215586,
+                0.4440680429364982
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9602866357819113,
+                    -0.2315307493603525,
+                    0.1557019243275194
+                ],
+                [
+                    -0.24416196410050084,
+                    -0.42724344573953044,
+                    0.8705446417956971
+                ],
+                [
+                    -0.1350352266086323,
+                    -0.8739888730259937,
+                    -0.46680717368256974
+                ]
+            ],
+            "translation_vector": [
+                0.6588106506056612,
+                -0.23817354449472042,
+                0.44484365936711723
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9607282764909303,
+                    -0.23282112383459022,
+                    0.15098179707224602
+                ],
+                [
+                    -0.24102737722829512,
+                    -0.4305399458151793,
+                    0.8697937447946561
+                ],
+                [
+                    -0.13750266243682555,
+                    -0.8720261918967002,
+                    -0.46974816494471117
+                ]
+            ],
+            "translation_vector": [
+                0.6577198317484978,
+                -0.2390137039238124,
+                0.4456062242094394
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9610706140871929,
+                    -0.23402604733758486,
+                    0.14688459383343466
+                ],
+                [
+                    -0.23829396720120094,
+                    -0.43295968382917466,
+                    0.8693456719706233
+                ],
+                [
+                    -0.13985442407582097,
+                    -0.8705042914001561,
+                    -0.47187182446119086
+                ]
+            ],
+            "translation_vector": [
+                0.6568263677391192,
+                -0.23966551916403248,
+                0.44623137798961865
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9617087725507655,
+                    -0.23356660160537207,
+                    0.14339762694486183
+                ],
+                [
+                    -0.23547060095131653,
+                    -0.43639998635620275,
+                    0.868394292931461
+                ],
+                [
+                    -0.1402491814112517,
+                    -0.8689083349369044,
+                    -0.4746877632619682
+                ]
+            ],
+            "translation_vector": [
+                0.6557285347751374,
+                -0.2403998261543622,
+                0.4469886162154756
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9622380810754506,
+                    -0.23378952871843078,
+                    0.1394285895713229
+                ],
+                [
+                    -0.2324227304067589,
+                    -0.4390101815349502,
+                    0.8678996110719931
+                ],
+                [
+                    -0.1416952706285621,
+                    -0.8675324298089749,
+                    -0.47677031525802277
+                ]
+            ],
+            "translation_vector": [
+                0.6547323349230241,
+                -0.24094452404203404,
+                0.4475999214057585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9620864733421759,
+                    -0.23651589379627494,
+                    0.13583022415413948
+                ],
+                [
+                    -0.2308248093762893,
+                    -0.4407733671521105,
+                    0.8674322718148031
+                ],
+                [
+                    -0.1452911738145655,
+                    -0.8658978408514136,
+                    -0.4786558304465179
+                ]
+            ],
+            "translation_vector": [
+                0.6541895228192949,
+                -0.241506883616008,
+                0.44803509871945757
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9627942652550686,
+                    -0.23611517477845673,
+                    0.13144134445177974
+                ],
+                [
+                    -0.22720538008682922,
+                    -0.44394765042238826,
+                    0.8667688267029682
+                ],
+                [
+                    -0.14630419697176178,
+                    -0.8643842362767727,
+                    -0.48107688992994474
+                ]
+            ],
+            "translation_vector": [
+                0.6529546430897079,
+                -0.24212062193743625,
+                0.4486776561343144
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9629269337898886,
+                    -0.2384528932887503,
+                    0.12614252995808875
+                ],
+                [
+                    -0.22412224658054647,
+                    -0.44691442888254873,
+                    0.8660465991182426
+                ],
+                [
+                    -0.15013640054860827,
+                    -0.8622109434116509,
+                    -0.4837885388178379
+                ]
+            ],
+            "translation_vector": [
+                0.6519201274581242,
+                -0.24288534519916669,
+                0.4494027310090847
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9631755766396601,
+                    -0.239682535545517,
+                    0.12184043138191025
+                ],
+                [
+                    -0.221468249252961,
+                    -0.4502707109088627,
+                    0.8649902320086947
+                ],
+                [
+                    -0.15246187437417377,
+                    -0.8601212525290253,
+                    -0.48677182314736983
+                ]
+            ],
+            "translation_vector": [
+                0.6508579826433716,
+                -0.24367495736258035,
+                0.45007206034790787
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9634212700627869,
+                    -0.24041093401025662,
+                    0.11841469165151271
+                ],
+                [
+                    -0.21928276529529556,
+                    -0.45317294375223865,
+                    0.8640308743878189
+                ],
+                [
+                    -0.1540601351260446,
+                    -0.8583920234131062,
+                    -0.4893144274448675
+                ]
+            ],
+            "translation_vector": [
+                0.6499932940728572,
+                -0.2443047343501844,
+                0.450651986988301
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9638475327340781,
+                    -0.24136884927734584,
+                    0.11286723280456719
+                ],
+                [
+                    -0.21554583823360696,
+                    -0.45726677513919184,
+                    0.862813472295128
+                ],
+                [
+                    -0.15664585938543732,
+                    -0.8559486987853501,
+                    -0.4927615039601452
+                ]
+            ],
+            "translation_vector": [
+                0.6486281948576008,
+                -0.24515966771978492,
+                0.451456518949244
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9644561389111252,
+                    -0.24052771539859072,
+                    0.1094110334554016
+                ],
+                [
+                    -0.21259949241818976,
+                    -0.4604273920860992,
+                    0.8618631402028526
+                ],
+                [
+                    -0.15692613529993177,
+                    -0.854489926647429,
+                    -0.49519809502652506
+                ]
+            ],
+            "translation_vector": [
+                0.6475252438504303,
+                -0.24570295678556686,
+                0.4520866140755633
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9643710341605266,
+                    -0.24264894568086068,
+                    0.10540397351202148
+                ],
+                [
+                    -0.21053261841275386,
+                    -0.4626404862236489,
+                    0.861185111977103
+                ],
+                [
+                    -0.16020151390179163,
+                    -0.8526929515756023,
+                    -0.49724260203331483
+                ]
+            ],
+            "translation_vector": [
+                0.6468094597609516,
+                -0.2462276766993541,
+                0.4526195084001624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9647491658888038,
+                    -0.24344728621319114,
+                    0.09996232166316588
+                ],
+                [
+                    -0.2068344070585352,
+                    -0.46654082135111635,
+                    0.8599762729690688
+                ],
+                [
+                    -0.1627223862091563,
+                    -0.8503370395604668,
+                    -0.5004481433454818
+                ]
+            ],
+            "translation_vector": [
+                0.6454594287653673,
+                -0.24700349937210836,
+                0.4534531490980573
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9649568426690044,
+                    -0.24392042606410044,
+                    0.09675286835527946
+                ],
+                [
+                    -0.20471108116347106,
+                    -0.4690722630818548,
+                    0.8591068532238292
+                ],
+                [
+                    -0.1641696227538732,
+                    -0.8488074208888463,
+                    -0.5025677041045077
+                ]
+            ],
+            "translation_vector": [
+                0.6446313046823988,
+                -0.24753113499876592,
+                0.4540028551743467
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9650721998735023,
+                    -0.2452416765687008,
+                    0.0921529657965055
+                ],
+                [
+                    -0.20188200110999915,
+                    -0.47196666858435254,
+                    0.8581906089984966
+                ],
+                [
+                    -0.1669709754991611,
+                    -0.8468199240801795,
+                    -0.5049917915389296
+                ]
+            ],
+            "translation_vector": [
+                0.6436135301465087,
+                -0.24810731584304538,
+                0.45454432192508076
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9651662222928966,
+                    -0.24658324513430602,
+                    0.08746923209845628
+                ],
+                [
+                    -0.19909709115399615,
+                    -0.47529785333012176,
+                    0.8570019246850006
+                ],
+                [
+                    -0.16974837742634308,
+                    -0.8445641798222399,
+                    -0.50783544039611
+                ]
+            ],
+            "translation_vector": [
+                0.6425183181595518,
+                -0.24878177475277616,
+                0.4551728867013378
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655092180387446,
+                    -0.24676569222910344,
+                    0.08305807017324203
+                ],
+                [
+                    -0.19595847441446626,
+                    -0.47864663719424355,
+                    0.8558607789867443
+                ],
+                [
+                    -0.1714416115981378,
+                    -0.8426174041884806,
+                    -0.5104935689813338
+                ]
+            ],
+            "translation_vector": [
+                0.64132960290941,
+                -0.2494341095260353,
+                0.4558366418236913
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9652438100794266,
+                    -0.24893034375138035,
+                    0.0796120032606324
+                ],
+                [
+                    -0.1945131780477148,
+                    -0.48080009771500126,
+                    0.8549829762065576
+                ],
+                [
+                    -0.17455374722167755,
+                    -0.8407526092716363,
+                    -0.5125095504805797
+                ]
+            ],
+            "translation_vector": [
+                0.6407341417389637,
+                -0.24992846836643068,
+                0.4562569609596005
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656865871597577,
+                    -0.24900809251204342,
+                    0.07378607757058947
+                ],
+                [
+                    -0.19041274636606242,
+                    -0.4856340852946579,
+                    0.8531720349503694
+                ],
+                [
+                    -0.17661370671913618,
+                    -0.8379466003651632,
+                    -0.5163846371992417
+                ]
+            ],
+            "translation_vector": [
+                0.6391046089352365,
+                -0.25076708370691814,
+                0.45712982814832326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9658041114893949,
+                    -0.24953368282096286,
+                    0.07039431346342924
+                ],
+                [
+                    -0.1882761427293367,
+                    -0.4883281839012394,
+                    0.8521077859559082
+                ],
+                [
+                    -0.17825406673942362,
+                    -0.8362227729173157,
+                    -0.5186106070505431
+                ]
+            ],
+            "translation_vector": [
+                0.6382512002388069,
+                -0.25130418254154496,
+                0.45766780950260944
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656958721747928,
+                    -0.2508883634181112,
+                    0.06698142702233259
+                ],
+                [
+                    -0.18644491530107704,
+                    -0.49035660905933426,
+                    0.8513452234612029
+                ],
+                [
+                    -0.18074782439338108,
+                    -0.8346289145801342,
+                    -0.5203122129297432
+                ]
+            ],
+            "translation_vector": [
+                0.637567420561003,
+                -0.2516892316364951,
+                0.4580551753187064
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656323899483238,
+                    -0.2528620121383472,
+                    0.06012395778751339
+                ],
+                [
+                    -0.182635609997211,
+                    -0.4955415939233041,
+                    0.849165921744919
+                ],
+                [
+                    -0.18492788173673255,
+                    -0.8309628941831865,
+                    -0.5246926214909713
+                ]
+            ],
+            "translation_vector": [
+                0.6360130959707758,
+                -0.2525705745184945,
+                0.45888298803538163
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655655647924898,
+                    -0.25397385578726933,
+                    0.05639521844542562
+                ],
+                [
+                    -0.1806622765681642,
+                    -0.49859198671797733,
+                    0.847801375680547
+                ],
+                [
+                    -0.1872011803172408,
+                    -0.8287963026927468,
+                    -0.5273067482316762
+                ]
+            ],
+            "translation_vector": [
+                0.6351410436343917,
+                -0.25314637723864086,
+                0.45939249893840395
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654913167098974,
+                    -0.25525200768508943,
+                    0.05170038617379743
+                ],
+                [
+                    -0.17812953758286507,
+                    -0.5024038347577937,
+                    0.8460852525964381
+                ],
+                [
+                    -0.18999048712581224,
+                    -0.826097330460155,
+                    -0.5305344620364468
+                ]
+            ],
+            "translation_vector": [
+                0.6340222141630978,
+                -0.2538590169509049,
+                0.4600394133367484
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654924229110468,
+                    -0.25644947991327494,
+                    0.04536568696236683
+                ],
+                [
+                    -0.17444944079978195,
+                    -0.5075069561018709,
+                    0.8438033432695424
+                ],
+                [
+                    -0.19336952682881556,
+                    -0.822599753075835,
+                    -0.5347315890552712
+                ]
+            ],
+            "translation_vector": [
+                0.6324352436917087,
+                -0.25474964075198747,
+                0.4608602807458305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654987995082962,
+                    -0.25707530562657804,
+                    0.04152535833728811
+                ],
+                [
+                    -0.17223445041083424,
+                    -0.5108109010431408,
+                    0.842263330240117
+                ],
+                [
+                    -0.19531349733112807,
+                    -0.8203563314880284,
+                    -0.5374645357116945
+                ]
+            ],
+            "translation_vector": [
+                0.6314170810392425,
+                -0.25535666312208644,
+                0.46141407615556185
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9654163064278852,
+                    -0.2579789144226346,
+                    0.037659460915665646
+                ],
+                [
+                    -0.17005821907322244,
+                    -0.5136301378706738,
+                    0.8409900615325941
+                ],
+                [
+                    -0.19761466901215471,
+                    -0.8183098198019326,
+                    -0.5397383453183079
+                ]
+            ],
+            "translation_vector": [
+                0.6305315367693675,
+                -0.25577780212820944,
+                0.46181753688582206
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.966194621582518,
+                    -0.25533215820933014,
+                    0.03568532204114693
+                ],
+                [
+                    -0.16759962695833514,
+                    -0.5168811112790967,
+                    0.8394904894317226
+                ],
+                [
+                    -0.1959038495498281,
+                    -0.8170920424205904,
+                    -0.5422013241818087
+                ]
+            ],
+            "translation_vector": [
+                0.6294584018793018,
+                -0.25620425356664545,
+                0.4623076603416354
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662851022034304,
+                    -0.25501491928906705,
+                    0.03550341109945691
+                ],
+                [
+                    -0.16734094046718287,
+                    -0.5172244782597537,
+                    0.8393305956132451
+                ],
+                [
+                    -0.19567859081479808,
+                    -0.8169738245677868,
+                    -0.5424607442643371
+                ]
+            ],
+            "translation_vector": [
+                0.6293476397667633,
+                -0.25621313486793906,
+                0.46233445230684933
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662755852155391,
+                    -0.2550765283898928,
+                    0.03531937260099296
+                ],
+                [
+                    -0.1672717610198696,
+                    -0.5174545518965201,
+                    0.8392025647523269
+                ],
+                [
+                    -0.19578470671040457,
+                    -0.8168088830235211,
+                    -0.5426708000548667
+                ]
+            ],
+            "translation_vector": [
+                0.6292910628867918,
+                -0.25620948535669874,
+                0.46224489778562394
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.966277493730571,
+                    -0.25505293020136793,
+                    0.03543738005923397
+                ],
+                [
+                    -0.16735645855705203,
+                    -0.5174371327143746,
+                    0.8391964188839038
+                ],
+                [
+                    -0.19570288932207455,
+                    -0.8168272868140625,
+                    -0.5426726109054786
+                ]
+            ],
+            "translation_vector": [
+                0.6293090103527764,
+                -0.2562050168284764,
+                0.46224095672063503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662924753358004,
+                    -0.25500039235370436,
+                    0.035406948595838025
+                ],
+                [
+                    -0.16729788746461338,
+                    -0.5174294986727545,
+                    0.8392128042118634
+                ],
+                [
+                    -0.19567899468080124,
+                    -0.8168485256170319,
+                    -0.5426492580276805
+                ]
+            ],
+            "translation_vector": [
+                0.6292927081442459,
+                -0.25619041732532966,
+                0.46224037854123234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662853253796497,
+                    -0.25502087010855506,
+                    0.03545455915703797
+                ],
+                [
+                    -0.1673481303527826,
+                    -0.5174173044040781,
+                    0.8392103052099907
+                ],
+                [
+                    -0.19567133981084833,
+                    -0.8168498570192034,
+                    -0.5426500141567624
+                ]
+            ],
+            "translation_vector": [
+                0.6293040715175012,
+                -0.2561925372691699,
+                0.46224034875690095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662573696470127,
+                    -0.25509572565863575,
+                    0.03567725260625437
+                ],
+                [
+                    -0.16756305757741927,
+                    -0.5173268223066841,
+                    0.8392232007382631
+                ],
+                [
+                    -0.19562545166246376,
+                    -0.8168837920247669,
+                    -0.5426154743361955
+                ]
+            ],
+            "translation_vector": [
+                0.6293609884990302,
+                -0.2561857162468738,
+                0.46223405876541984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662527256377816,
+                    -0.25511766684945536,
+                    0.03564612543949479
+                ],
+                [
+                    -0.1675046929665272,
+                    -0.5171431782641885,
+                    0.8393480273456315
+                ],
+                [
+                    -0.19569835980852615,
+                    -0.8169932124786007,
+                    -0.5424244119987123
+                ]
+            ],
+            "translation_vector": [
+                0.6293816078358789,
+                -0.2561414911751061,
+                0.4622156296976179
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9662031858022769,
+                    -0.25527919916452296,
+                    0.0358320278445275
+                ],
+                [
+                    -0.16770957718922538,
+                    -0.5169354467410364,
+                    0.8394350729041864
+                ],
+                [
+                    -0.19576746784014548,
+                    -0.8170742159538296,
+                    -0.5422774420523987
+                ]
+            ],
+            "translation_vector": [
+                0.6294544148842769,
+                -0.256134201705692,
+                0.4621888037345403
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9661828512434362,
+                    -0.25533409031751264,
+                    0.03598889113091024
+                ],
+                [
+                    -0.1678113096205553,
+                    -0.5166591006051966,
+                    0.8395848605860301
+                ],
+                [
+                    -0.1957806484986152,
+                    -0.8172318374143029,
+                    -0.5420351110305532
+                ]
+            ],
+            "translation_vector": [
+                0.6295190977735423,
+                -0.2560889548032404,
+                0.46216797955367817
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9661634455788046,
+                    -0.25539111687283517,
+                    0.0361050391183581
+                ],
+                [
+                    -0.167897266763964,
+                    -0.5164593962731333,
+                    0.8396905381236477
+                ],
+                [
+                    -0.19580271765346524,
+                    -0.8173402409178423,
+                    -0.5418636602835448
+                ]
+            ],
+            "translation_vector": [
+                0.6295769071904912,
+                -0.2560600533505772,
+                0.4621412157422282
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9661337801675707,
+                    -0.2554723923614843,
+                    0.036323209662969695
+                ],
+                [
+                    -0.16809948759990712,
+                    -0.5163165176064658,
+                    0.8397379447871705
+                ],
+                [
+                    -0.19577558859002034,
+                    -0.8174051078797049,
+                    -0.5417756071699787
+                ]
+            ],
+            "translation_vector": [
+                0.6296380718364503,
+                -0.2560532788762667,
+                0.46212823734481423
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9660606963337878,
+                    -0.25570753435005167,
+                    0.03661130803037086
+                ],
+                [
+                    -0.16840633537161426,
+                    -0.5159866123187876,
+                    0.8398792306721753
+                ],
+                [
+                    -0.19587250242384946,
+                    -0.8175398906380036,
+                    -0.5415371547824034
+                ]
+            ],
+            "translation_vector": [
+                0.6297457831335113,
+                -0.2560236198907073,
+                0.462085989337755
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9660380431127068,
+                    -0.2557770350387866,
+                    0.03672339316757058
+                ],
+                [
+                    -0.16850232193328207,
+                    -0.5158134685038661,
+                    0.8399663286186562
+                ],
+                [
+                    -0.19590167626149918,
+                    -0.8176274053973357,
+                    -0.5413944580258985
+                ]
+            ],
+            "translation_vector": [
+                0.6297937635149524,
+                -0.2559923850508636,
+                0.4620679034065056
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9660050096072915,
+                    -0.25587070084297625,
+                    0.03693921850474605
+                ],
+                [
+                    -0.16869312748554938,
+                    -0.5156014868493104,
+                    0.8400581738772173
+                ],
+                [
+                    -0.19590035771473568,
+                    -0.8177317966233826,
+                    -0.5412372480145228
+                ]
+            ],
+            "translation_vector": [
+                0.6298648412730268,
+                -0.2559661674497177,
+                0.46205138911167876
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9659624536111431,
+                    -0.2560028485275209,
+                    0.037135963153466574
+                ],
+                [
+                    -0.16890089766442892,
+                    -0.5154370763374357,
+                    0.8401173174651662
+                ],
+                [
+                    -0.19593117409358465,
+                    -0.8177940828121171,
+                    -0.5411319738620126
+                ]
+            ],
+            "translation_vector": [
+                0.6299308719500858,
+                -0.25596176638862406,
+                0.4620331138581753
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965947150682658,
+                    -0.2560391778803773,
+                    0.03728326002906618
+                ],
+                [
+                    -0.16900626273630404,
+                    -0.5152548498479093,
+                    0.8402079045475089
+                ],
+                [
+                    -0.19591576058082166,
+                    -0.8178975358188513,
+                    -0.540981178653647
+                ]
+            ],
+            "translation_vector": [
+                0.6299874956273618,
+                -0.25592789995011295,
+                0.4620188320833534
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965905178042745,
+                    -0.2561796611710803,
+                    0.03740545725536928
+                ],
+                [
+                    -0.16916233598754266,
+                    -0.5151252748736436,
+                    0.8402559462863627
+                ],
+                [
+                    -0.1959879871661794,
+                    -0.8179351639272048,
+                    -0.5408981202573419
+                ]
+            ],
+            "translation_vector": [
+                0.630034907548824,
+                -0.2559154674868188,
+                0.46198660358558813
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9658791389724299,
+                    -0.25625314766270757,
+                    0.03757410292784923
+                ],
+                [
+                    -0.16929572580994873,
+                    -0.514893235664952,
+                    0.8403712947792537
+                ],
+                [
+                    -0.1960011380588405,
+                    -0.8180582376453593,
+                    -0.5407071977514343
+                ]
+            ],
+            "translation_vector": [
+                0.6301025232841646,
+                -0.2558782735606429,
+                0.46197518901412254
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9658599249836144,
+                    -0.2563139127409392,
+                    0.03765346525988297
+                ],
+                [
+                    -0.16937362002156164,
+                    -0.5147843024856075,
+                    0.8404223335652133
+                ],
+                [
+                    -0.1960285238209957,
+                    -0.8181077557692735,
+                    -0.5406223430443144
+                ]
+            ],
+            "translation_vector": [
+                0.6301370017351203,
+                -0.2558567035656448,
+                0.4619578446454497
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9658354717517934,
+                    -0.256389926744512,
+                    0.03776303708567823
+                ],
+                [
+                    -0.16949143317013127,
+                    -0.5146956717483366,
+                    0.8404528657607535
+                ],
+                [
+                    -0.19604717694454415,
+                    -0.8181397013636926,
+                    -0.5405672330659732
+                ]
+            ],
+            "translation_vector": [
+                0.6301748533999402,
+                -0.2558529738808675,
+                0.4619357010971188
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965822587746302,
+                    -0.2564392954725636,
+                    0.037757340168131745
+                ],
+                [
+                    -0.16950060858438026,
+                    -0.5146362082852632,
+                    0.8404874281101962
+                ],
+                [
+                    -0.1961027095390614,
+                    -0.8181616349226494,
+                    -0.5405138910815671
+                ]
+            ],
+            "translation_vector": [
+                0.6301909459854919,
+                -0.25582999708683285,
+                0.4618983200902434
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9657756465845617,
+                    -0.25660338674959243,
+                    0.03784312847547696
+                ],
+                [
+                    -0.16965908519285103,
+                    -0.5145923199102227,
+                    0.8404823252757551
+                ],
+                [
+                    -0.19619682789407494,
+                    -0.8181377916940731,
+                    -0.5405158263420681
+                ]
+            ],
+            "translation_vector": [
+                0.6302306531330734,
+                -0.25584251479447223,
+                0.46186795217495785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9657641237516762,
+                    -0.25664659686156105,
+                    0.03784417515994765
+                ],
+                [
+                    -0.1696698527569815,
+                    -0.5145298340408997,
+                    0.8405184060728647
+                ],
+                [
+                    -0.19624423135364172,
+                    -0.8181635375652132,
+                    -0.5404596446166863
+                ]
+            ],
+            "translation_vector": [
+                0.6302438586799984,
+                -0.25582813952722744,
+                0.46185189974621366
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9657191955505534,
+                    -0.25681323339739326,
+                    0.03786024956558374
+                ],
+                [
+                    -0.16977002740637365,
+                    -0.5144897426436414,
+                    0.840522719805312
+                ],
+                [
+                    -0.19637864736175212,
+                    -0.8181364604187104,
+                    -0.5404518100570234
+                ]
+            ],
+            "translation_vector": [
+                0.6302710309164037,
+                -0.25582294483760015,
+                0.46179103540703753
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9657083171202892,
+                    -0.2568355242593166,
+                    0.03798630968047569
+                ],
+                [
+                    -0.1698754914476053,
+                    -0.5144186136352837,
+                    0.840544946657219
+                ],
+                [
+                    -0.19634093727527527,
+                    -0.818174188925558,
+                    -0.5404083945738368
+                ]
+            ],
+            "translation_vector": [
+                0.630306776180208,
+                -0.2558211049687174,
+                0.461789053373557
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656862491042483,
+                    -0.2569212431006365,
+                    0.03796765906125131
+                ],
+                [
+                    -0.16990504731518902,
+                    -0.5144040684557174,
+                    0.8405478744563148
+                ],
+                [
+                    -0.19642388650006684,
+                    -0.8181564209855161,
+                    -0.5404051513562574
+                ]
+            ],
+            "translation_vector": [
+                0.6303237214351777,
+                -0.2558101273389194,
+                0.46175414588329017
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656758799681889,
+                    -0.2569579514789095,
+                    0.03798297012381905
+                ],
+                [
+                    -0.1699230135290083,
+                    -0.5143354938743603,
+                    0.8405862057006639
+                ],
+                [
+                    -0.1964593197608223,
+                    -0.818188004625331,
+                    -0.5403444501115329
+                ]
+            ],
+            "translation_vector": [
+                0.6303370947182196,
+                -0.2557929167847437,
+                0.4617267010867898
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656638162388058,
+                    -0.2569926251340023,
+                    0.03805502113834578
+                ],
+                [
+                    -0.1699922988405789,
+                    -0.514279828662993,
+                    0.8406062551309369
+                ],
+                [
+                    -0.19645867845936732,
+                    -0.818212104809686,
+                    -0.5403081890929492
+                ]
+            ],
+            "translation_vector": [
+                0.6303586626642173,
+                -0.25579864094464266,
+                0.4617141440582547
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656524030466459,
+                    -0.25702535869948834,
+                    0.038123502929785745
+                ],
+                [
+                    -0.17005708085719332,
+                    -0.5142229866765864,
+                    0.8406279255554988
+                ],
+                [
+                    -0.19645871255958083,
+                    -0.8182375480010745,
+                    -0.5402696449927771
+                ]
+            ],
+            "translation_vector": [
+                0.6303800921658063,
+                -0.25579563631297547,
+                0.46170780597523503
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656402812856807,
+                    -0.2570552233610691,
+                    0.03822903741010703
+                ],
+                [
+                    -0.1701486678118323,
+                    -0.5141502985425934,
+                    0.8406538534678951
+                ],
+                [
+                    -0.19643899307513057,
+                    -0.8182738433136877,
+                    -0.5402218427167453
+                ]
+            ],
+            "translation_vector": [
+                0.6304085426497308,
+                -0.25579842500006666,
+                0.46169476272624577
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965638448433562,
+                    -0.2570520563423747,
+                    0.03829656951973286
+                ],
+                [
+                    -0.17019280301761872,
+                    -0.5140968216448303,
+                    0.8406776241673675
+                ],
+                [
+                    -0.19640976734324894,
+                    -0.8183084371463123,
+                    -0.5401800671880912
+                ]
+            ],
+            "translation_vector": [
+                0.6304275517766244,
+                -0.25578980501009196,
+                0.46167516274226844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965622498794339,
+                    -0.2571037904037237,
+                    0.03835141173691645
+                ],
+                [
+                    -0.17025481506799056,
+                    -0.5140323940872075,
+                    0.840704463991442
+                ],
+                [
+                    -0.1964344363097792,
+                    -0.8183326577798371,
+                    -0.5401344031281912
+                ]
+            ],
+            "translation_vector": [
+                0.6304495122025352,
+                -0.255783376647389,
+                0.4616649279960443
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656121614324934,
+                    -0.2571236067960851,
+                    0.03847862421970425
+                ],
+                [
+                    -0.17036008273902883,
+                    -0.5139620765461814,
+                    0.8407261302478286
+                ],
+                [
+                    -0.19639398133043737,
+                    -0.8183705974071344,
+                    -0.5400916305560292
+                ]
+            ],
+            "translation_vector": [
+                0.6304786971673367,
+                -0.2557916556556724,
+                0.46166245714499493
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656012496334978,
+                    -0.2571527978411337,
+                    0.038557298514091114
+                ],
+                [
+                    -0.17043706945724768,
+                    -0.5139275471672299,
+                    0.8407316347191298
+                ],
+                [
+                    -0.19638083425083264,
+                    -0.818383110056135,
+                    -0.5400774510325304
+                ]
+            ],
+            "translation_vector": [
+                0.6305020147421591,
+                -0.25579755044965913,
+                0.4616476232236258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655886508012834,
+                    -0.25718423641899957,
+                    0.03866297946787731
+                ],
+                [
+                    -0.17052716655571667,
+                    -0.5138442652565097,
+                    0.8407642692987594
+                ],
+                [
+                    -0.19636456633068058,
+                    -0.8184255247733748,
+                    -0.5400190899303376
+                ]
+            ],
+            "translation_vector": [
+                0.6305263689489203,
+                -0.25580294908488066,
+                0.46164679445021845
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655806587378665,
+                    -0.25719032529847896,
+                    0.038821747052531476
+                ],
+                [
+                    -0.17065434480514974,
+                    -0.5137835492589669,
+                    0.8407755700006893
+                ],
+                [
+                    -0.1962933673624078,
+                    -0.8184617285394117,
+                    -0.5399901043961874
+                ]
+            ],
+            "translation_vector": [
+                0.630561015744172,
+                -0.2558035861516803,
+                0.4616318185885486
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655863300227772,
+                    -0.2571658307324108,
+                    0.03884295015641613
+                ],
+                [
+                    -0.17064270132830955,
+                    -0.513716682205299,
+                    0.8408187907672837
+                ],
+                [
+                    -0.19627559134166955,
+                    -0.8185113963334225,
+                    -0.5399212778876092
+                ]
+            ],
+            "translation_vector": [
+                0.6305715948357311,
+                -0.25577597281119413,
+                0.4616197200874456
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965572053136967,
+                    -0.2572116411694805,
+                    0.03889449636857591
+                ],
+                [
+                    -0.17070752604869066,
+                    -0.5136900976978017,
+                    0.8408218741669126
+                ],
+                [
+                    -0.19628945654618932,
+                    -0.8185136866138073,
+                    -0.539912765245161
+                ]
+            ],
+            "translation_vector": [
+                0.6305827662507189,
+                -0.2557805462890956,
+                0.46160428622090016
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9655997567514879,
+                    -0.25709829134536816,
+                    0.038956107977566254
+                ],
+                [
+                    -0.17068174772210515,
+                    -0.5136303297227798,
+                    0.8408636187773832
+                ],
+                [
+                    -0.19617556105691467,
+                    -0.8185868023466791,
+                    -0.539843307143697
+                ]
+            ],
+            "translation_vector": [
+                0.6305930505375008,
+                -0.2557540028858459,
+                0.46160776948903987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656046893666105,
+                    -0.2570662029301562,
+                    0.039045501460268
+                ],
+                [
+                    -0.17073242773306913,
+                    -0.5135938587052339,
+                    0.8408756069839587
+                ],
+                [
+                    -0.1961071696638966,
+                    -0.818619762534072,
+                    -0.5398181753100534
+                ]
+            ],
+            "translation_vector": [
+                0.630607362018063,
+                -0.25575022807451264,
+                0.4616109949143816
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656175314075105,
+                    -0.2570013125080888,
+                    0.039154928266892486
+                ],
+                [
+                    -0.17078511815976752,
+                    -0.5135715635568967,
+                    0.8408785242357418
+                ],
+                [
+                    -0.19599802665746424,
+                    -0.8186541238367059,
+                    -0.5398057049268151
+                ]
+            ],
+            "translation_vector": [
+                0.6306227238931327,
+                -0.2557535139560037,
+                0.4616152439787227
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656340719563056,
+                    -0.25693045695321043,
+                    0.03921197989007092
+                ],
+                [
+                    -0.1707795867000807,
+                    -0.5135108527071208,
+                    0.8409167241282312
+                ],
+                [
+                    -0.19592134096017844,
+                    -0.818714446215419,
+                    -0.5397420529424638
+                ]
+            ],
+            "translation_vector": [
+                0.6306287422686941,
+                -0.25572451121149226,
+                0.461607277478794
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656319424139107,
+                    -0.256932797226484,
+                    0.03924907004391256
+                ],
+                [
+                    -0.17080357590904588,
+                    -0.5134705069929915,
+                    0.8409364880328614
+                ],
+                [
+                    -0.19591092426564755,
+                    -0.8187390159005095,
+                    -0.5397085635744951
+                ]
+            ],
+            "translation_vector": [
+                0.6306405650172764,
+                -0.2557148412388801,
+                0.4615991135628069
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656523779920971,
+                    -0.2568491362257419,
+                    0.039293843007505824
+                ],
+                [
+                    -0.17078205128653925,
+                    -0.5134182848081782,
+                    0.8409727437812659
+                ],
+                [
+                    -0.19582894534917478,
+                    -0.8187980129706709,
+                    -0.5396488099854491
+                ]
+            ],
+            "translation_vector": [
+                0.6306427477006902,
+                -0.2557015453746568,
+                0.4615989878728006
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656734032504687,
+                    -0.25676384167023225,
+                    0.03933456324153229
+                ],
+                [
+                    -0.17075921482714138,
+                    -0.5133791999485331,
+                    0.8410012411476113
+                ],
+                [
+                    -0.1957451629192313,
+                    -0.8188492698115742,
+                    -0.5396014311719118
+                ]
+            ],
+            "translation_vector": [
+                0.6306446824817714,
+                -0.2556791153971304,
+                0.4616015456557735
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656687857782053,
+                    -0.2567802706324978,
+                    0.03934067599252134
+                ],
+                [
+                    -0.17077638122242325,
+                    -0.5133892984989622,
+                    0.8409915908041635
+                ],
+                [
+                    -0.19575296623607233,
+                    -0.8188377866223843,
+                    -0.5396160259009498
+                ]
+            ],
+            "translation_vector": [
+                0.6306479032035106,
+                -0.2556821793613389,
+                0.46159541151133293
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656760874958037,
+                    -0.25675905126120746,
+                    0.03929991901063104
+                ],
+                [
+                    -0.17073262366953168,
+                    -0.5134056764336798,
+                    0.8409904771283645
+                ],
+                [
+                    -0.19575511552374703,
+                    -0.8188341718572332,
+                    -0.5396207313893381
+                ]
+            ],
+            "translation_vector": [
+                0.630637807644024,
+                -0.25567824745610146,
+                0.46159087028590584
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656733208452157,
+                    -0.2567590566388717,
+                    0.039367807174005925
+                ],
+                [
+                    -0.1707806782896957,
+                    -0.5133593593800286,
+                    0.8410089940421792
+                ],
+                [
+                    -0.1957268436640323,
+                    -0.81886320894936,
+                    -0.5395869232092937
+                ]
+            ],
+            "translation_vector": [
+                0.6306529323643886,
+                -0.2556765731147098,
+                0.4615978705310678
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656782047453094,
+                    -0.2567439078912011,
+                    0.03934679962373745
+                ],
+                [
+                    -0.17075252756175724,
+                    -0.5133544992395769,
+                    0.8410176766523726
+                ],
+                [
+                    -0.19572730829178503,
+                    -0.8188710056359536,
+                    -0.5395749224321075
+                ]
+            ],
+            "translation_vector": [
+                0.6306500119436002,
+                -0.2556739893823983,
+                0.46160290796451686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656664341854275,
+                    -0.2567897693888334,
+                    0.03933639821883958
+                ],
+                [
+                    -0.1707715334129736,
+                    -0.5133618015342106,
+                    0.8410093602935294
+                ],
+                [
+                    -0.19576879542813505,
+                    -0.8188520471139945,
+                    -0.5395886430178433
+                ]
+            ],
+            "translation_vector": [
+                0.6306517572634021,
+                -0.25567720355081813,
+                0.4615913708421232
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656733919198335,
+                    -0.25676191526735076,
+                    0.039347414226163724
+                ],
+                [
+                    -0.17076307213496292,
+                    -0.5133531414972848,
+                    0.8410163644721178
+                ],
+                [
+                    -0.19574185381024914,
+                    -0.8188662106737037,
+                    -0.539576922860695
+                ]
+            ],
+            "translation_vector": [
+                0.6306515067702246,
+                -0.25567004904739077,
+                0.4615934754054459
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656697307602503,
+                    -0.2567735646942816,
+                    0.03936124448766087
+                ],
+                [
+                    -0.17078261322968838,
+                    -0.5133565335414557,
+                    0.8410103260297931
+                ],
+                [
+                    -0.19574286733330665,
+                    -0.8188604312973561,
+                    -0.5395853259157849
+                ]
+            ],
+            "translation_vector": [
+                0.6306538368286878,
+                -0.2556767473630125,
+                0.46159821104470616
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656580044696923,
+                    -0.25682289951121046,
+                    0.039327047820382696
+                ],
+                [
+                    -0.17078206707134433,
+                    -0.5133603948913105,
+                    0.8410080799397094
+                ],
+                [
+                    -0.19580118480349096,
+                    -0.8188425387360458,
+                    -0.5395913201542967
+                ]
+            ],
+            "translation_vector": [
+                0.6306508769563608,
+                -0.25567326479562447,
+                0.46157608073349266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656792505864877,
+                    -0.25674086638226906,
+                    0.03934097756794543
+                ],
+                [
+                    -0.17074635741538458,
+                    -0.5133572008537853,
+                    0.8410172802986539
+                ],
+                [
+                    -0.195727531063204,
+                    -0.818870265585977,
+                    -0.5395759647381028
+                ]
+            ],
+            "translation_vector": [
+                0.6306501767667698,
+                -0.25566932852276364,
+                0.46159875188266253
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656726943493329,
+                    -0.2567635082303434,
+                    0.039354138655883324
+                ],
+                [
+                    -0.17076852177132057,
+                    -0.5133476155699134,
+                    0.8410186309236689
+                ],
+                [
+                    -0.1957405409212362,
+                    -0.8188691754058953,
+                    -0.5395728998105178
+                ]
+            ],
+            "translation_vector": [
+                0.6306525588272045,
+                -0.2556751215385706,
+                0.4615954665907345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965669001707438,
+                    -0.25678141301147367,
+                    0.039327917224174495
+                ],
+                [
+                    -0.17076131958509605,
+                    -0.5133700333506271,
+                    0.841006409363884
+                ],
+                [
+                    -0.19576503997117875,
+                    -0.818849506801712,
+                    -0.5395938605429789
+                ]
+            ],
+            "translation_vector": [
+                0.6306491516099191,
+                -0.2556747172729314,
+                0.4615873189533073
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656621977862472,
+                    -0.2568058236744261,
+                    0.039335590672249426
+                ],
+                [
+                    -0.17077697164674233,
+                    -0.5133489532305809,
+                    0.84101609864035
+                ],
+                [
+                    -0.19578494763848167,
+                    -0.8188550672395981,
+                    -0.5395781992762779
+                ]
+            ],
+            "translation_vector": [
+                0.630649815512878,
+                -0.2556735339848851,
+                0.4615806149633161
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656752587087661,
+                    -0.25675097266636554,
+                    0.03937299522049176
+                ],
+                [
+                    -0.17078560586744795,
+                    -0.5133804819649525,
+                    0.8409950996087443
+                ],
+                [
+                    -0.19571298256949227,
+                    -0.8188525012310266,
+                    -0.5396082001614183
+                ]
+            ],
+            "translation_vector": [
+                0.6306524486750613,
+                -0.2556769582878424,
+                0.4615882513342344
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656754274712939,
+                    -0.2567569093410808,
+                    0.03933011929488484
+                ],
+                [
+                    -0.1707495179897458,
+                    -0.513371468436399,
+                    0.8410079295117999
+                ],
+                [
+                    -0.1957436356165975,
+                    -0.818856290750136,
+                    -0.5395913307444119
+                ]
+            ],
+            "translation_vector": [
+                0.630647799357135,
+                -0.25566888514020164,
+                0.46158899120917213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656721832802224,
+                    -0.25676884420568097,
+                    0.039331858385885037
+                ],
+                [
+                    -0.1707547930712278,
+                    -0.5133585477181134,
+                    0.8410147454878254
+                ],
+                [
+                    -0.19575503845881154,
+                    -0.8188606487858776,
+                    -0.5395805804399941
+                ]
+            ],
+            "translation_vector": [
+                0.6306498939471605,
+                -0.2556677369352122,
+                0.46158928972897684
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656751421912702,
+                    -0.2567546199329186,
+                    0.03935206343983627
+                ],
+                [
+                    -0.170767985719636,
+                    -0.5133742733328416,
+                    0.8410024676142368
+                ],
+                [
+                    -0.19572893196236615,
+                    -0.8188552501041193,
+                    -0.539598243668187
+                ]
+            ],
+            "translation_vector": [
+                0.6306511085644328,
+                -0.2556704301555019,
+                0.4615834510682168
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656734628033974,
+                    -0.2567568300932114,
+                    0.039378845053927726
+                ],
+                [
+                    -0.17078523619735342,
+                    -0.5133435558636674,
+                    0.8410177148849244
+                ],
+                [
+                    -0.1957221661803019,
+                    -0.8188738143656393,
+                    -0.5395725250714297
+                ]
+            ],
+            "translation_vector": [
+                0.6306588695620259,
+                -0.25567584205227417,
+                0.4616002076499977
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656641476778725,
+                    -0.2567970741392891,
+                    0.0393448421405988
+                ],
+                [
+                    -0.1707766157190948,
+                    -0.513334765596449,
+                    0.8410248307592181
+                ],
+                [
+                    -0.19577564049978444,
+                    -0.8188667053578008,
+                    -0.5395639141411886
+                ]
+            ],
+            "translation_vector": [
+                0.6306504816561705,
+                -0.2556712147090168,
+                0.4615862675776148
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656715334378179,
+                    -0.25677018556561887,
+                    0.039339055815447686
+                ],
+                [
+                    -0.17075708553828603,
+                    -0.5133386960953783,
+                    0.8410263972251806
+                ],
+                [
+                    -0.1957562444631683,
+                    -0.8188726731889973,
+                    -0.5395618943717039
+                ]
+            ],
+            "translation_vector": [
+                0.6306510568650031,
+                -0.2556732583766135,
+                0.4615946770235695
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656693817854045,
+                    -0.2567725686749154,
+                    0.03937630071858585
+                ],
+                [
+                    -0.1707914063693131,
+                    -0.5133408542785287,
+                    0.8410181108864316
+                ],
+                [
+                    -0.1957369167852267,
+                    -0.8188705729873776,
+                    -0.5395720935173881
+                ]
+            ],
+            "translation_vector": [
+                0.630656081826392,
+                -0.25568050300357587,
+                0.4616000282884657
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656818499271044,
+                    -0.2567288439924576,
+                    0.03935562709018691
+                ],
+                [
+                    -0.17074980080288443,
+                    -0.513347093000198,
+                    0.8410227509610078
+                ],
+                [
+                    -0.19571170186562875,
+                    -0.8188803714649304,
+                    -0.5395663693951995
+                ]
+            ],
+            "translation_vector": [
+                0.6306498857404285,
+                -0.25566545608924274,
+                0.4615924966421878
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656576238746302,
+                    -0.25681561931474906,
+                    0.039383894281610834
+                ],
+                [
+                    -0.17082167457241368,
+                    -0.5133364582191411,
+                    0.8410146468161563
+                ],
+                [
+                    -0.1957685085734671,
+                    -0.8188598282606185,
+                    -0.539576938639811
+                ]
+            ],
+            "translation_vector": [
+                0.630665069942187,
+                -0.2556812721367749,
+                0.4615863626207868
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656688498540268,
+                    -0.25677799948644986,
+                    0.039353924853030464
+                ],
+                [
+                    -0.1707769714002015,
+                    -0.5133489530437921,
+                    0.8410160988044267
+                ],
+                [
+                    -0.1957521352654318,
+                    -0.818863792940303,
+                    -0.5395768621340659
+                ]
+            ],
+            "translation_vector": [
+                0.630654813395548,
+                -0.25567353388366576,
+                0.4615908975286023
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656713020231601,
+                    -0.25677120274091314,
+                    0.039338097207157814
+                ],
+                [
+                    -0.1707602568379786,
+                    -0.5133530125936384,
+                    0.8410170147777413
+                ],
+                [
+                    -0.19575461969905705,
+                    -0.8188633792666642,
+                    -0.5395765885974455
+                ]
+            ],
+            "translation_vector": [
+                0.6306510371983556,
+                -0.2556728133545225,
+                0.461590813770081
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656651889256429,
+                    -0.25679172514578613,
+                    0.03935419664856256
+                ],
+                [
+                    -0.17078540694413513,
+                    -0.5133502997974362,
+                    0.8410135637864642
+                ],
+                [
+                    -0.19576283526790483,
+                    -0.8188586444524684,
+                    -0.5395807935178362
+                ]
+            ],
+            "translation_vector": [
+                0.6306569767613934,
+                -0.25567194230846113,
+                0.46158664294945995
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656710482764703,
+                    -0.2567706764741018,
+                    0.039347760084343826
+                ],
+                [
+                    -0.1707686922883367,
+                    -0.5133543593047705,
+                    0.8410144799686389
+                ],
+                [
+                    -0.19574851277788613,
+                    -0.8188627000210847,
+                    -0.5395798349266073
+                ]
+            ],
+            "translation_vector": [
+                0.6306556468895919,
+                -0.2556712216992421,
+                0.46159191959987966
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656729258182379,
+                    -0.2567624907803215,
+                    0.03935509712768462
+                ],
+                [
+                    -0.1707653504678125,
+                    -0.5133332990469753,
+                    0.8410280133082095
+                ],
+                [
+                    -0.19574216567017275,
+                    -0.8188784692601424,
+                    -0.5395582055357112
+                ]
+            ],
+            "translation_vector": [
+                0.6306525784297169,
+                -0.25567556657531676,
+                0.46159932984288704
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656653747522023,
+                    -0.25679094784777007,
+                    0.03935470884319618
+                ],
+                [
+                    -0.1707854069434525,
+                    -0.5133502997945808,
+                    0.8410135637883455
+                ],
+                [
+                    -0.1957619186150571,
+                    -0.818858888212284,
+                    -0.5395807561578654
+                ]
+            ],
+            "translation_vector": [
+                0.6306568883990894,
+                -0.25567194230878565,
+                0.4615870409517283
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656713867197547,
+                    -0.25676676121153735,
+                    0.03936499978005238
+                ],
+                [
+                    -0.17077265971550476,
+                    -0.5133175448604574,
+                    0.8410361447834005
+                ],
+                [
+                    -0.19574338191734242,
+                    -0.8188870059265625,
+                    -0.5395448081116078
+                ]
+            ],
+            "translation_vector": [
+                0.6306567176279574,
+                -0.25567204238860936,
+                0.46159816746219773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656592853765196,
+                    -0.2568139572562947,
+                    0.0393539823203626
+                ],
+                [
+                    -0.17079351003581864,
+                    -0.5133316082453646,
+                    0.8410233272067261
+                ],
+                [
+                    -0.19578488576944358,
+                    -0.8188633899098123,
+                    -0.5395655911653897
+                ]
+            ],
+            "translation_vector": [
+                0.6306596123834228,
+                -0.2556786842677465,
+                0.4615866595786279
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656581936405517,
+                    -0.25681723846613086,
+                    0.03935935824549415
+                ],
+                [
+                    -0.17080285200640102,
+                    -0.5133432225640401,
+                    0.8410143408967803
+                ],
+                [
+                    -0.19578212073972978,
+                    -0.8188550798976563,
+                    -0.5395792057932337
+                ]
+            ],
+            "translation_vector": [
+                0.6306593395745876,
+                -0.25568290035793984,
+                0.4615873505508504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656691573553955,
+                    -0.25677983054733117,
+                    0.039334427116767615
+                ],
+                [
+                    -0.1707561153995681,
+                    -0.5133283486183722,
+                    0.8410329099139843
+                ],
+                [
+                    -0.1957688115767418,
+                    -0.8188761354007202,
+                    -0.5395520802341618
+                ]
+            ],
+            "translation_vector": [
+                0.6306534065357271,
+                -0.2556674218909779,
+                0.46159035383909786
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656690356704295,
+                    -0.2567772221835464,
+                    0.03935443704393221
+                ],
+                [
+                    -0.17077697139951895,
+                    -0.5133489530409373,
+                    0.8410160988063081
+                ],
+                [
+                    -0.19575121860910877,
+                    -0.81886403668709,
+                    -0.5395768247743539
+                ]
+            ],
+            "translation_vector": [
+                0.6306547250292778,
+                -0.25567353388399033,
+                0.46159129552881706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656726943493329,
+                    -0.2567635082303434,
+                    0.039354138655883324
+                ],
+                [
+                    -0.17076852177132057,
+                    -0.5133476155699134,
+                    0.8410186309236689
+                ],
+                [
+                    -0.1957405409212362,
+                    -0.8188691754058953,
+                    -0.5395728998105178
+                ]
+            ],
+            "translation_vector": [
+                0.6306525588272045,
+                -0.2556751215385706,
+                0.4615954665907345
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656688498540268,
+                    -0.25677799948644986,
+                    0.039353924853030464
+                ],
+                [
+                    -0.1707769714002015,
+                    -0.5133489530437921,
+                    0.8410160988044267
+                ],
+                [
+                    -0.1957521352654318,
+                    -0.818863792940303,
+                    -0.5395768621340659
+                ]
+            ],
+            "translation_vector": [
+                0.630654813395548,
+                -0.25567353388366576,
+                0.4615907449407116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656589849715324,
+                    -0.2568121040096595,
+                    0.03937344254547614
+                ],
+                [
+                    -0.1708143018594291,
+                    -0.5133521323809285,
+                    0.8410065769423147
+                ],
+                [
+                    -0.1957682278206192,
+                    -0.8188511045447062,
+                    -0.5395902793434
+                ]
+            ],
+            "translation_vector": [
+                0.6306610209582162,
+                -0.25568476752867314,
+                0.46158712251692785
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965669545407009,
+                    -0.2567764182786461,
+                    0.039347173842738725
+                ],
+                [
+                    -0.17077150763869184,
+                    -0.5133544882179759,
+                    0.8410138296159395
+                ],
+                [
+                    -0.19575347060072557,
+                    -0.8188608187246781,
+                    -0.5395808913456082
+                ]
+            ],
+            "translation_vector": [
+                0.6306537585134968,
+                -0.25566845743904204,
+                0.4615888228990038
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656762475095344,
+                    -0.2567440305672276,
+                    0.03939400670150913
+                ],
+                [
+                    -0.17078868006955186,
+                    -0.5133334489930524,
+                    0.8410231845228747
+                ],
+                [
+                    -0.19570542086514697,
+                    -0.8188841633057704,
+                    -0.5395628928410515
+                ]
+            ],
+            "translation_vector": [
+                0.6306584902219247,
+                -0.2556719696709792,
+                0.4615945790427816
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656595595614611,
+                    -0.2568133976578614,
+                    0.03935090610126077
+                ],
+                [
+                    -0.1707936861663217,
+                    -0.5133448935667375,
+                    0.841015182392491
+                ],
+                [
+                    -0.19578337976775514,
+                    -0.8188552369206539,
+                    -0.5395785106676645
+                ]
+            ],
+            "translation_vector": [
+                0.630653680054107,
+                -0.25567425457872417,
+                0.4615803006041259
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656614151821791,
+                    -0.25680376386627884,
+                    0.03936823710129623
+                ],
+                [
+                    -0.17080285188389388,
+                    -0.5133432224723993,
+                    0.8410143409775969
+                ],
+                [
+                    -0.19576623053192796,
+                    -0.8188593058674766,
+                    -0.5395785579297557
+                ]
+            ],
+            "translation_vector": [
+                0.63066187425271,
+                -0.2556829003073398,
+                0.4615922367280092
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656688498540268,
+                    -0.25677799948644986,
+                    0.039353924853030464
+                ],
+                [
+                    -0.1707769714002015,
+                    -0.5133489530437921,
+                    0.8410160988044267
+                ],
+                [
+                    -0.1957521352654318,
+                    -0.818863792940303,
+                    -0.5395768621340659
+                ]
+            ],
+            "translation_vector": [
+                0.630654813395548,
+                -0.25567353388366576,
+                0.4615908212346569
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656712340894342,
+                    -0.25676989917223597,
+                    0.03934827227806745
+                ],
+                [
+                    -0.17076869228765426,
+                    -0.5133543593019153,
+                    0.8410144799705203
+                ],
+                [
+                    -0.19574759611947617,
+                    -0.8188629437609202,
+                    -0.5395797975727469
+                ]
+            ],
+            "translation_vector": [
+                0.6306555585222791,
+                -0.2556712216995668,
+                0.4615923938948311
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656688050546011,
+                    -0.2567782358812233,
+                    0.039353481702968734
+                ],
+                [
+                    -0.170780131805079,
+                    -0.5133632205255586,
+                    0.841006748125285
+                ],
+                [
+                    -0.19574959904188524,
+                    -0.8188547742972216,
+                    -0.5395914686923688
+                ]
+            ],
+            "translation_vector": [
+                0.630654705428087,
+                -0.2556730904479245,
+                0.4615873694264879
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656638199362669,
+                    -0.25680044983059624,
+                    0.03933085090486214
+                ],
+                [
+                    -0.17077378792847936,
+                    -0.5133658011609854,
+                    0.8410064610660838
+                ],
+                [
+                    -0.19577972372709032,
+                    -0.8188461901756293,
+                    -0.5395935661330676
+                ]
+            ],
+            "translation_vector": [
+                0.6306540853798653,
+                -0.25567095256677475,
+                0.461582973604872
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656651698898528,
+                    -0.2567850750144621,
+                    0.03939803182164131
+                ],
+                [
+                    -0.1708178086373877,
+                    -0.5133421062748244,
+                    0.8410119845624366
+                ],
+                [
+                    -0.19573465690552297,
+                    -0.8188658664122864,
+                    -0.5395800560722507
+                ]
+            ],
+            "translation_vector": [
+                0.6306630859806512,
+                -0.25568092385858116,
+                0.46158662998524985
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656643729487302,
+                    -0.2567895436779518,
+                    0.03938843834432969
+                ],
+                [
+                    -0.17081605574532607,
+                    -0.5133589976557706,
+                    0.841002030095928
+                ],
+                [
+                    -0.19574011831289323,
+                    -0.8188538757211398,
+                    -0.5395962715765583
+                ]
+            ],
+            "translation_vector": [
+                0.6306630886314487,
+                -0.255685592092892,
+                0.46158623206818594
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656722567035484,
+                    -0.25676374743631264,
+                    0.03936331586055397
+                ],
+                [
+                    -0.17077697127701497,
+                    -0.5133489529492913,
+                    0.8410160988871236
+                ],
+                [
+                    -0.19573532822289863,
+                    -0.8188682619984291,
+                    -0.5395761769918557
+                ]
+            ],
+            "translation_vector": [
+                0.6306572596424839,
+                -0.2556735338333912,
+                0.46159610533609746
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656687220106214,
+                    -0.25677497467366767,
+                    0.03937679153652749
+                ],
+                [
+                    -0.17079168880167633,
+                    -0.5133344713138065,
+                    0.8410219495335699
+                ],
+                [
+                    -0.19573992532604356,
+                    -0.8188738199150787,
+                    -0.5395660744441246
+                ]
+            ],
+            "translation_vector": [
+                0.630659584470742,
+                -0.2556759582186717,
+                0.4615859269288682
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656622432881713,
+                    -0.25680558411656784,
+                    0.039336037601736706
+                ],
+                [
+                    -0.17077380039037612,
+                    -0.5133346367263163,
+                    0.8410254810868032
+                ],
+                [
+                    -0.19578748935487372,
+                    -0.8188641173623431,
+                    -0.5395635424197098
+                ]
+            ],
+            "translation_vector": [
+                0.6306499236731444,
+                -0.2556739790077036,
+                0.46158408021328856
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656610341183123,
+                    -0.25681251312963727,
+                    0.039320481756863646
+                ],
+                [
+                    -0.17076552140552712,
+                    -0.5133400431065137,
+                    0.8410238622313287
+                ],
+                [
+                    -0.19580067386158412,
+                    -0.8188585550896093,
+                    -0.5395671995886213
+                ]
+            ],
+            "translation_vector": [
+                0.6306483107617024,
+                -0.2556716668588753,
+                0.46157997085677444
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656751869115658,
+                    -0.25675438379703097,
+                    0.03935250670947736
+                ],
+                [
+                    -0.17076482590764122,
+                    -0.5133600057784226,
+                    0.8410118184067993
+                ],
+                [
+                    -0.19573146812928552,
+                    -0.818864268892095,
+                    -0.5395836371831245
+                ]
+            ],
+            "translation_vector": [
+                0.6306512165881789,
+                -0.2556708735807664,
+                0.461586902884432
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656683497172335,
+                    -0.2567829852960371,
+                    0.039333660099848865
+                ],
+                [
+                    -0.1707648261548597,
+                    -0.5133600059680706,
+                    0.8410118182408397
+                ],
+                [
+                    -0.1957651973735265,
+                    -0.8188553002423066,
+                    -0.5395850116176195
+                ]
+            ],
+            "translation_vector": [
+                0.6306463069248546,
+                -0.25567087368166164,
+                0.46157629874316874
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965671029399727,
+                    -0.25676402628925565,
+                    0.039391595319331084
+                ],
+                [
+                    -0.17080109394916781,
+                    -0.5133461655174336,
+                    0.8410129015980164
+                ],
+                [
+                    -0.19572033436472314,
+                    -0.8188699219975526,
+                    -0.5395790966706205
+                ]
+            ],
+            "translation_vector": [
+                0.6306617561301487,
+                -0.2556802031380945,
+                0.4615919830634846
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656726203483322,
+                    -0.2567585466907124,
+                    0.03938831058651551
+                ],
+                [
+                    -0.17080232040358515,
+                    -0.5133764228018162,
+                    0.8409941830095868
+                ],
+                [
+                    -0.19571141421577218,
+                    -0.8188526712495263,
+                    -0.5396085109903088
+                ]
+            ],
+            "translation_vector": [
+                0.6306563132241892,
+                -0.25567767887036674,
+                0.46158786082430514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656630045025159,
+                    -0.256804554521953,
+                    0.03932407038895719
+                ],
+                [
+                    -0.17076569209830314,
+                    -0.5133467871024148,
+                    0.8410197111684219
+                ],
+                [
+                    -0.19579080708082774,
+                    -0.8188568232288289,
+                    -0.5395734082719689
+                ]
+            ],
+            "translation_vector": [
+                0.6306537734795541,
+                -0.25566776698675914,
+                0.4615822181539466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656740953615703,
+                    -0.2567576651804992,
+                    0.03935788254812147
+                ],
+                [
+                    -0.17077416710148183,
+                    -0.5133716205010356,
+                    0.8410028318114846
+                ],
+                [
+                    -0.19572870356288627,
+                    -0.8188559584171076,
+                    -0.5395972516297619
+                ]
+            ],
+            "translation_vector": [
+                0.6306509438299263,
+                -0.25567508960511276,
+                0.46158759373047054
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656688498540268,
+                    -0.25677799948644986,
+                    0.039353924853030464
+                ],
+                [
+                    -0.1707769714002015,
+                    -0.5133489530437921,
+                    0.8410160988044267
+                ],
+                [
+                    -0.1957521352654318,
+                    -0.818863792940303,
+                    -0.5395768621340659
+                ]
+            ],
+            "translation_vector": [
+                0.630654813395548,
+                -0.25567353388366576,
+                0.4615908212346569
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656678542331996,
+                    -0.25677726094574066,
+                    0.039383163431233645
+                ],
+                [
+                    -0.1707979234113025,
+                    -0.5133318490263199,
+                    0.8410222839696976
+                ],
+                [
+                    -0.1957387663674088,
+                    -0.818874746854745,
+                    -0.5395650881075816
+                ]
+            ],
+            "translation_vector": [
+                0.6306593295407754,
+                -0.2556806482207457,
+                0.461590638426352
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656796924158654,
+                    -0.2567368278092973,
+                    0.03935648487885026
+                ],
+                [
+                    -0.17075542055757412,
+                    -0.5133483112513036,
+                    0.84102086637945
+                ],
+                [
+                    -0.1957174443063416,
+                    -0.8188771046877876,
+                    -0.5395692443165568
+                ]
+            ],
+            "translation_vector": [
+                0.6306539375146504,
+                -0.25566662861620637,
+                0.461591491419145
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656754182195837,
+                    -0.25675336687948447,
+                    0.03935346544437132
+                ],
+                [
+                    -0.17076165524550638,
+                    -0.5133456891983974,
+                    0.8410212009689397
+                ],
+                [
+                    -0.19573309312491652,
+                    -0.8188735628761449,
+                    -0.5395689430260802
+                ]
+            ],
+            "translation_vector": [
+                0.6306512363148506,
+                -0.2556713185933981,
+                0.461590766135296
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656700528094522,
+                    -0.2567699380588283,
+                    0.03937699856839781
+                ],
+                [
+                    -0.17078964425951984,
+                    -0.5133372553207249,
+                    0.8410206654497211
+                ],
+                [
+                    -0.19573514380585008,
+                    -0.8188736539961772,
+                    -0.5395680608322299
+                ]
+            ],
+            "translation_vector": [
+                0.6306601631016872,
+                -0.2556783359949067,
+                0.46159166053781153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656635605728237,
+                    -0.25679741868625006,
+                    0.039357001129354585
+                ],
+                [
+                    -0.1707872751799666,
+                    -0.5133342307462624,
+                    0.8410229926587892
+                ],
+                [
+                    -0.195769237671345,
+                    -0.8188669325966351,
+                    -0.5395658924370208
+                ]
+            ],
+            "translation_vector": [
+                0.6306623136476416,
+                -0.2556739941592749,
+                0.4615873086025414
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656791451088639,
+                    -0.2567383340876089,
+                    0.039360087801400045
+                ],
+                [
+                    -0.17076289257333002,
+                    -0.5133628289189751,
+                    0.8410104876898367
+                ],
+                [
+                    -0.19571362553947005,
+                    -0.8188675312248171,
+                    -0.5395851583244017
+                ]
+            ],
+            "translation_vector": [
+                0.6306501362306048,
+                -0.2556706994999626,
+                0.46158751082712246
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656666004085818,
+                    -0.2567844300597911,
+                    0.039367160606282744
+                ],
+                [
+                    -0.17079281503924998,
+                    -0.5133515719732658,
+                    0.8410112828515118
+                ],
+                [
+                    -0.19574940915951994,
+                    -0.8188601345965288,
+                    -0.5395834029899859
+                ]
+            ],
+            "translation_vector": [
+                0.6306576086305254,
+                -0.2556778910278124,
+                0.4615829874327607
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656750417658146,
+                    -0.2567509478563061,
+                    0.03937847743985122
+                ],
+                [
+                    -0.17078041476158295,
+                    -0.5133388460164503,
+                    0.8410215687509811
+                ],
+                [
+                    -0.1957185827775539,
+                    -0.8188786112394119,
+                    -0.5395665449322801
+                ]
+            ],
+            "translation_vector": [
+                0.630656880222189,
+                -0.2556696613766679,
+                0.4615904004763553
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656671823197788,
+                    -0.2567857013425028,
+                    0.03934458764072107
+                ],
+                [
+                    -0.17077213563114282,
+                    -0.513344252496395,
+                    0.8410199498947074
+                ],
+                [
+                    -0.19576457974454417,
+                    -0.8188643245464761,
+                    -0.5395715404860467
+                ]
+            ],
+            "translation_vector": [
+                0.630650269349774,
+                -0.2556673492681831,
+                0.46157608478880724
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656641476762181,
+                    -0.2567912267493205,
+                    0.039382988171824035
+                ],
+                [
+                    -0.17080952961800128,
+                    -0.5133475127010164,
+                    0.8410103660451261
+                ],
+                [
+                    -0.19574692458488352,
+                    -0.8188605479984116,
+                    -0.5395836769652146
+                ]
+            ],
+            "translation_vector": [
+                0.630661384806526,
+                -0.2556786116628051,
+                0.46158299478039155
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656739426389148,
+                    -0.2567542515790778,
+                    0.039383890161860294
+                ],
+                [
+                    -0.17078981972506824,
+                    -0.5133505405473057,
+                    0.841012520714209
+                ],
+                [
+                    -0.1957157990211636,
+                    -0.8188702441875984,
+                    -0.5395802527869702
+                ]
+            ],
+            "translation_vector": [
+                0.6306566056034375,
+                -0.25567390625729164,
+                0.4615910960346939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656739426389148,
+                    -0.2567542515790778,
+                    0.039383890161860294
+                ],
+                [
+                    -0.17078981972506824,
+                    -0.5133505405473057,
+                    0.841012520714209
+                ],
+                [
+                    -0.1957157990211636,
+                    -0.8188702441875984,
+                    -0.5395802527869702
+                ]
+            ],
+            "translation_vector": [
+                0.6306566056034375,
+                -0.25567390625729164,
+                0.4615910960346939
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656740649755262,
+                    -0.2567568600130082,
+                    0.039363880269905935
+                ],
+                [
+                    -0.17076896473713818,
+                    -0.5133299355626876,
+                    0.8410293323884803
+                ],
+                [
+                    -0.19573339244045457,
+                    -0.8188823432529653,
+                    -0.5395555087220253
+                ]
+            ],
+            "translation_vector": [
+                0.6306552871183155,
+                -0.2556677942447315,
+                0.4615901543119106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656530557988262,
+                    -0.25683603895557905,
+                    0.039362735169160244
+                ],
+                [
+                    -0.17081215888039727,
+                    -0.5133247221301271,
+                    0.8410237428447819
+                ],
+                [
+                    -0.19579934168685828,
+                    -0.8188607810511114,
+                    -0.5395643048343329
+                ]
+            ],
+            "translation_vector": [
+                0.63066438137769,
+                -0.25567957921828377,
+                0.46158653308732583
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656625779168673,
+                    -0.2567970748852513,
+                    0.03938334598950557
+                ],
+                [
+                    -0.17081430173555873,
+                    -0.5133521322835773,
+                    0.8410065770268972
+                ],
+                [
+                    -0.19575050429959037,
+                    -0.8188558179620412,
+                    -0.539589556474338
+                ]
+            ],
+            "translation_vector": [
+                0.6306633789017518,
+                -0.25568476747872226,
+                0.4615928810287821
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656652469326058,
+                    -0.25678792303809067,
+                    0.0393775754506696
+                ],
+                [
+                    -0.170800124196487,
+                    -0.5133358185751433,
+                    0.8410194141292175
+                ],
+                [
+                    -0.19574970866147975,
+                    -0.8188689149977372,
+                    -0.5395699691507808
+                ]
+            ],
+            "translation_vector": [
+                0.6306616594562197,
+                -0.2556743666110794,
+                0.4615822991456203
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656641932255697,
+                    -0.25679098689115826,
+                    0.03938343526756976
+                ],
+                [
+                    -0.1708063590041016,
+                    -0.5133331961341158,
+                    0.841019748561528
+                ],
+                [
+                    -0.19574946652742586,
+                    -0.8188695981645665,
+                    -0.5395690201967026
+                ]
+            ],
+            "translation_vector": [
+                0.6306614929545389,
+                -0.25567905668122815,
+                0.46158646001655745
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656727346218584,
+                    -0.25676118059755026,
+                    0.039368334306828616
+                ],
+                [
+                    -0.1707815405552136,
+                    -0.5133559467052102,
+                    0.8410109020625032
+                ],
+                [
+                    -0.1957289835806898,
+                    -0.8188646824235062,
+                    -0.5395839108664384
+                ]
+            ],
+            "translation_vector": [
+                0.6306549927850956,
+                -0.2556715941054297,
+                0.4615869865962254
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.965674818807078,
+                    -0.25675122371851994,
+                    0.039382146220836585
+                ],
+                [
+                    -0.17079404131245035,
+                    -0.5133818287062557,
+                    0.8409925644180105
+                ],
+                [
+                    -0.1957077918072702,
+                    -0.8188515781710769,
+                    -0.539611483525563
+                ]
+            ],
+            "translation_vector": [
+                0.6306571467316481,
+                -0.2556753667403103,
+                0.4615890354465305
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656665310293409,
+                    -0.2567815596632841,
+                    0.03938758010655403
+                ],
+                [
+                    -0.1708104353096771,
+                    -0.5133577802009814,
+                    0.8410039147925765
+                ],
+                [
+                    -0.1957343762323766,
+                    -0.8188571426836381,
+                    -0.539593396769188
+                ]
+            ],
+            "translation_vector": [
+                0.6306590369935766,
+                -0.2556844192677501,
+                0.46158738988085624
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656701802849247,
+                    -0.2567736786891701,
+                    0.039349470656060655
+                ],
+                [
+                    -0.1707643945922201,
+                    -0.5133229421057763,
+                    0.8410345288080762
+                ],
+                [
+                    -0.19575654381918858,
+                    -0.8188814535940481,
+                    -0.5395484598362463
+                ]
+            ],
+            "translation_vector": [
+                0.6306551076812287,
+                -0.2556697340973262,
+                0.46159406521529517
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656588681126136,
+                    -0.2568157517077211,
+                    0.039352510850829546
+                ],
+                [
+                    -0.1707966812848171,
+                    -0.5133459247114888,
+                    0.8410139447382543
+                ],
+                [
+                    -0.19578417734219264,
+                    -0.818853852196413,
+                    -0.5395803227004635
+                ]
+            ],
+            "translation_vector": [
+                0.6306596809551953,
+                -0.25567823925389577,
+                0.46158224573919987
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656576238746302,
+                    -0.25681561931474906,
+                    0.039383894281610834
+                ],
+                [
+                    -0.17082167457241368,
+                    -0.5133364582191411,
+                    0.8410146468161563
+                ],
+                [
+                    -0.1957685085734671,
+                    -0.8188598282606185,
+                    -0.539576938639811
+                ]
+            ],
+            "translation_vector": [
+                0.630665069942187,
+                -0.2556812721367749,
+                0.46158651520867744
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656665193504723,
+                    -0.2567874046046272,
+                    0.039349742590812725
+                ],
+                [
+                    -0.17077283003177626,
+                    -0.5133242890475331,
+                    0.8410319939198405
+                ],
+                [
+                    -0.19576724426849806,
+                    -0.8188763051342152,
+                    -0.5395523913034341
+                ]
+            ],
+            "translation_vector": [
+                0.6306572710971421,
+                -0.2556681424264685,
+                0.46158988695012243
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656564154004833,
+                    -0.2568225483154611,
+                    0.039368338454170836
+                ],
+                [
+                    -0.1708133957486063,
+                    -0.5133418649106195,
+                    0.841013028176685
+                ],
+                [
+                    -0.19578169278234242,
+                    -0.8188542656705405,
+                    -0.5395805967271624
+                ]
+            ],
+            "translation_vector": [
+                0.6306634571258735,
+                -0.255678959923169,
+                0.46158225308834955
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656592700637909,
+                    -0.2568046266065106,
+                    0.03941519876084912
+                ],
+                [
+                    -0.17083990259984394,
+                    -0.5133250494160472,
+                    0.8410179078483935
+                ],
+                [
+                    -0.19574448094273922,
+                    -0.8188704277207132,
+                    -0.539569569921205
+                ]
+            ],
+            "translation_vector": [
+                0.630669071132901,
+                -0.25568050308535634,
+                0.46158655106368235
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656688498540268,
+                    -0.25677799948644986,
+                    0.039353924853030464
+                ],
+                [
+                    -0.1707769714002015,
+                    -0.5133489530437921,
+                    0.8410160988044267
+                ],
+                [
+                    -0.1957521352654318,
+                    -0.818863792940303,
+                    -0.5395768621340659
+                ]
+            ],
+            "translation_vector": [
+                0.630654813395548,
+                -0.25567353388366576,
+                0.4615907449407116
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656685764351757,
+                    -0.25677082292823666,
+                    0.03940742288474756
+                ],
+                [
+                    -0.1708178085142039,
+                    -0.5133421061803234,
+                    0.8410119846451382
+                ],
+                [
+                    -0.19571784992704672,
+                    -0.8188703355935575,
+                    -0.5395793701623778
+                ]
+            ],
+            "translation_vector": [
+                0.6306655322992057,
+                -0.2556809238083052,
+                0.4615919142306707
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96567062775498,
+                    -0.25677268950942894,
+                    0.039344943936897
+                ],
+                [
+                    -0.1707664271091778,
+                    -0.5133503108501839,
+                    0.841017411069703
+                ],
+                [
+                    -0.19575256336423538,
+                    -0.8188646068014629,
+                    -0.5395754717036505
+                ]
+            ],
+            "translation_vector": [
+                0.6306506957208475,
+                -0.25567747427317833,
+                0.46159584219854793
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656583325841374,
+                    -0.2568136765692444,
+                    0.03937918533706713
+                ],
+                [
+                    -0.17081780888460485,
+                    -0.513342106464467,
+                    0.8410119843964691
+                ],
+                [
+                    -0.1957683857998685,
+                    -0.8188568966905093,
+                    -0.5395814320968637
+                ]
+            ],
+            "translation_vector": [
+                0.6306581763104505,
+                -0.2556809239594789,
+                0.46157610172335706
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.96566542027239,
+                    -0.2567907082337115,
+                    0.039355155379916185
+                ],
+                [
+                    -0.17078223573355414,
+                    -0.5133359833061735,
+                    0.8410229462986921
+                ],
+                [
+                    -0.19576446063572736,
+                    -0.8188679383196737,
+                    -0.5395660993280527
+                ]
+            ],
+            "translation_vector": [
+                0.6306569964881662,
+                -0.2556723873179781,
+                0.46159058248370355
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    0.9656596354981939,
+                    -0.25681624572189304,
+                    0.039330450071260147
+                ],
+                [
+                    -0.1707760015168814,
+                    -0.513338605883608,
+                    0.8410226114768736
+                ],
+                [
+                    -0.19579843123835733,
+                    -0.818858285445526,
+                    -0.5395684226136777
+                ]
+            ],
+            "translation_vector": [
+                0.6306522533192269,
+                -0.2556676974540887,
+                0.4615757410689528
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237515/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..35e35177b116f956776a7e1218b9c462ce1b2b82
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 329.23459610849056,
+        "fy": 435.65704345703125,
+        "ppx": 316.8152546432783,
+        "ppy": 238.4815673828125,
+        "distortion_model": "plumb bob",
+        "k1": -0.055739182978868484,
+        "k2": 0.05996587499976158,
+        "k3": -0.020211046561598778,
+        "p1": -0.00013161412789486349,
+        "p2": 0.00025812239618971944
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237515/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..68cd31d79a57d59e01a9766e397867f95bd52b49
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                -0.02426194395732706,
+                -0.026197573925642138,
+                -0.9993623192795602
+            ],
+            [
+                -0.028127931447491854,
+                -0.9992429280479562,
+                0.026877317921081452
+            ],
+            [
+                -0.9993098506208653,
+                0.028762090789026487,
+                0.023506692356584424
+            ]
+        ],
+        "translation_vector": [
+            -0.09959879757142678,
+            0.0764877201273037,
+            -0.00047855079302115515
+        ]
+    }
+}
diff --git a/parameters/1957/1237515/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237515/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..841d489326f1d37eec42d0af4a5ab24b02c97327
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
+[
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621059488696258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621057962817353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621057962817353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230281802091213,
+                    -0.8945456888400541,
+                    0.4467169675464553
+                ],
+                [
+                    -0.999310169150193,
+                    0.02875207051259182,
+                    0.023505409467840965
+                ],
+                [
+                    -0.03387070045394367,
+                    -0.4460508143910407,
+                    -0.8943665057636314
+                ]
+            ],
+            "translation_vector": [
+                0.602976676245277,
+                -0.0004763964495722384,
+                0.6621055699608687
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621062455834941
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621062455834941
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621049074223608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621049074223608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230494389616033,
+                    -0.8945484880436209,
+                    0.44671135488088864
+                ],
+                [
+                    -0.9993101691513694,
+                    0.028752070517904744,
+                    0.023505409411339204
+                ],
+                [
+                    -0.03387060482644344,
+                    -0.44604520060169306,
+                    -0.8943693091496857
+                ]
+            ],
+            "translation_vector": [
+                0.6029766463347817,
+                -0.00047639645447906985,
+                0.6621045285117236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.662103935086099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621050515473701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621050515473701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621047561140881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0152310097801546,
+                    -0.8945552742017623,
+                    0.4466977476313103
+                ],
+                [
+                    -0.9993101691542505,
+                    0.028752070531966493,
+                    0.02350540927164441
+                ],
+                [
+                    -0.03387037298258596,
+                    -0.4460315906277645,
+                    -0.8943761054478627
+                ]
+            ],
+            "translation_vector": [
+                0.6029764321877162,
+                -0.00047639646725811146,
+                0.662102148908248
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0152310097801546,
+                    -0.8945552742017623,
+                    0.4466977476313103
+                ],
+                [
+                    -0.9993101691542505,
+                    0.028752070531966493,
+                    0.02350540927164441
+                ],
+                [
+                    -0.03387037298258596,
+                    -0.4460315906277645,
+                    -0.8943761054478627
+                ]
+            ],
+            "translation_vector": [
+                0.6029764321877162,
+                -0.00047639646725811146,
+                0.662102148908248
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230823108788566,
+                    -0.8945528161541841,
+                    0.44670267643931405
+                ],
+                [
+                    -0.9993101691533673,
+                    0.028752070533197647,
+                    0.023505409307691575
+                ],
+                [
+                    -0.03387045695140315,
+                    -0.44603652042256753,
+                    -0.8943736437279619
+                ]
+            ],
+            "translation_vector": [
+                0.6029757503953199,
+                -0.00047639646736396125,
+                0.6621037896831157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230855260161267,
+                    -0.8945532395519501,
+                    0.4467018274589376
+                ],
+                [
+                    -0.9993101691534854,
+                    0.028752070531642283,
+                    0.023505409304572837
+                ],
+                [
+                    -0.03387044249011253,
+                    -0.446035671272213,
+                    -0.8943740677581556
+                ]
+            ],
+            "translation_vector": [
+                0.6029760290971896,
+                -0.000476396466340253,
+                0.662103341662118
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230855260161267,
+                    -0.8945532395519501,
+                    0.4467018274589376
+                ],
+                [
+                    -0.9993101691534854,
+                    0.028752070531642283,
+                    0.023505409304572837
+                ],
+                [
+                    -0.03387044249011253,
+                    -0.446035671272213,
+                    -0.8943740677581556
+                ]
+            ],
+            "translation_vector": [
+                0.6029760290971896,
+                -0.000476396466340253,
+                0.662103341662118
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230797194084737,
+                    -0.8945524750836064,
+                    0.446703360339528
+                ],
+                [
+                    -0.9993101691530748,
+                    0.028752070526652865,
+                    0.023505409328146203
+                ],
+                [
+                    -0.03387046861332098,
+                    -0.4460372044596995,
+                    -0.894373302147202
+                ]
+            ],
+            "translation_vector": [
+                0.6029764621094988,
+                -0.0004763964623512226,
+                0.6621031903524943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230797194084737,
+                    -0.8945524750836064,
+                    0.446703360339528
+                ],
+                [
+                    -0.9993101691530748,
+                    0.028752070526652865,
+                    0.023505409328146203
+                ],
+                [
+                    -0.03387046861332098,
+                    -0.4460372044596995,
+                    -0.894373302147202
+                ]
+            ],
+            "translation_vector": [
+                0.6029764621094988,
+                -0.0004763964623512226,
+                0.6621031903524943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230797194084737,
+                    -0.8945524750836064,
+                    0.446703360339528
+                ],
+                [
+                    -0.9993101691530748,
+                    0.028752070526652865,
+                    0.023505409328146203
+                ],
+                [
+                    -0.03387046861332098,
+                    -0.4460372044596995,
+                    -0.894373302147202
+                ]
+            ],
+            "translation_vector": [
+                0.6029764621094988,
+                -0.0004763964623512226,
+                0.6621031903524943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230765042687232,
+                    -0.8945520516843846,
+                    0.44670420931917776
+                ],
+                [
+                    -0.9993101691529565,
+                    0.02875207052820796,
+                    0.023505409331264555
+                ],
+                [
+                    -0.03387048307455587,
+                    -0.4460380536093284,
+                    -0.8943728781155531
+                ]
+            ],
+            "translation_vector": [
+                0.6029761834077729,
+                -0.00047639646337494906,
+                0.6621036383739031
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621043080926512
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.662103935086099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.662103935086099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.662103935086099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.662103935086099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043831073895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043831073895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621047548344703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043068134441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043068134441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621050515473701
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230881174845515,
+                    -0.8945535806213558,
+                    0.4467011435581384
+                ],
+                [
+                    -0.9993101691537785,
+                    0.028752070538187617,
+                    0.023505409284118543
+                ],
+                [
+                    -0.033870430828150895,
+                    -0.44603498723449675,
+                    -0.8943744093377437
+                ]
+            ],
+            "translation_vector": [
+                0.6029753173822149,
+                -0.0004763964713530014,
+                0.6621039409921817
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230881174845515,
+                    -0.8945535806213558,
+                    0.4467011435581384
+                ],
+                [
+                    -0.9993101691537785,
+                    0.028752070538187617,
+                    0.023505409284118543
+                ],
+                [
+                    -0.033870430828150895,
+                    -0.44603498723449675,
+                    -0.8943744093377437
+                ]
+            ],
+            "translation_vector": [
+                0.6029753173822149,
+                -0.0004763964713530014,
+                0.6621039409921817
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230224703559095,
+                    -0.8945449361050786,
+                    0.4467184768332728
+                ],
+                [
+                    -0.9993101691507741,
+                    0.028752070546546778,
+                    0.023505409401614538
+                ],
+                [
+                    -0.03387072611164672,
+                    -0.44605232398009814,
+                    -0.8943657519072513
+                ]
+            ],
+            "translation_vector": [
+                0.6029724358448044,
+                -0.00047639647474193914,
+                0.6621102073600925
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230308684958551,
+                    -0.8945460416803034,
+                    0.44671626007059717
+                ],
+                [
+                    -0.9993101691514779,
+                    0.02875207055808151,
+                    0.0235054093575871
+                ],
+                [
+                    -0.033870688327896234,
+                    -0.44605010677358137,
+                    -0.8943668591352607
+                ]
+            ],
+            "translation_vector": [
+                0.6029712911075679,
+                -0.0004763964837437475,
+                0.6621108816891526
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230308684958551,
+                    -0.8945460416803034,
+                    0.44671626007059717
+                ],
+                [
+                    -0.9993101691514779,
+                    0.02875207055808151,
+                    0.0235054093575871
+                ],
+                [
+                    -0.033870688327896234,
+                    -0.44605010677358137,
+                    -0.8943668591352607
+                ]
+            ],
+            "translation_vector": [
+                0.6029712911075679,
+                -0.0004763964837437475,
+                0.6621108816891526
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230327395123935,
+                    -0.8945462886712477,
+                    0.44671576483479253
+                ],
+                [
+                    -0.9993101691509538,
+                    0.028752070533781083,
+                    0.023505409409595585
+                ],
+                [
+                    -0.03387067993013333,
+                    -0.44604961143858957,
+                    -0.8943671064929399
+                ]
+            ],
+            "translation_vector": [
+                0.6029742623929444,
+                -0.00047639646563419144,
+                0.6621078159627949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230327395123935,
+                    -0.8945462886712477,
+                    0.44671576483479253
+                ],
+                [
+                    -0.9993101691509538,
+                    0.028752070533781083,
+                    0.023505409409595585
+                ],
+                [
+                    -0.03387067993013333,
+                    -0.44604961143858957,
+                    -0.8943671064929399
+                ]
+            ],
+            "translation_vector": [
+                0.6029742623929444,
+                -0.00047639646563419144,
+                0.6621078159627949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621066232098742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230449764668526,
+                    -0.8945478999775248,
+                    0.4467125340146228
+                ],
+                [
+                    -0.9993101691516008,
+                    0.028752070535660333,
+                    0.0235054093797854
+                ],
+                [
+                    -0.03387062488595053,
+                    -0.44604637997153596,
+                    -0.8943687202066736
+                ]
+            ],
+            "translation_vector": [
+                0.6029743867916046,
+                -0.00047639646757577245,
+                0.6621070712295772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069962173052
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069962173052
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231703664248848,
+                    -0.8945644122581249,
+                    0.4466794236639508
+                ],
+                [
+                    -0.9993101691562065,
+                    0.028752070475007656,
+                    0.023505409258163905
+                ],
+                [
+                    -0.033870060886837264,
+                    -0.4460132629918922,
+                    -0.8943852571519986
+                ]
+            ],
+            "translation_vector": [
+                0.6029852559708692,
+                -0.00047639642765129044,
+                0.6620895982651162
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523407032810345,
+                    -0.8945955752579346,
+                    0.44661692738874414
+                ],
+                [
+                    -0.9993101691652951,
+                    0.028752070376135863,
+                    0.023505408992717122
+                ],
+                [
+                    -0.033868996206967046,
+                    -0.4459507542072441,
+                    -0.8944164667077205
+                ]
+            ],
+            "translation_vector": [
+                0.6030038971364357,
+                -0.00047639636397582254,
+                0.6620585382264126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523407032810345,
+                    -0.8945955752579346,
+                    0.44661692738874414
+                ],
+                [
+                    -0.9993101691652951,
+                    0.028752070376135863,
+                    0.023505408992717122
+                ],
+                [
+                    -0.033868996206967046,
+                    -0.4459507542072441,
+                    -0.8944164667077205
+                ]
+            ],
+            "translation_vector": [
+                0.6030038971364357,
+                -0.00047639636397582254,
+                0.6620585382264126
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015228604630922708,
+                    -0.8945235997617267,
+                    0.44676125511319364
+                ],
+                [
+                    -0.9993101691452184,
+                    0.028752070640514923,
+                    0.023505409522863598
+                ],
+                [
+                    -0.033871454706724584,
+                    -0.44609511082638403,
+                    -0.8943443836983862
+                ]
+            ],
+            "translation_vector": [
+                0.6029565189392742,
+                -0.0004763965380046317,
+                0.662134702493026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015227967818560426,
+                    -0.8945152128665919,
+                    0.4467780690078145
+                ],
+                [
+                    -0.9993101691426814,
+                    0.02875207066352377,
+                    0.023505409602566908
+                ],
+                [
+                    -0.03387174108518143,
+                    -0.4461119280884498,
+                    -0.8943359842771975
+                ]
+            ],
+            "translation_vector": [
+                0.6029519347296587,
+                -0.00047639655244480423,
+                0.6621426152236903
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015227967818560426,
+                    -0.8945152128665919,
+                    0.4467780690078145
+                ],
+                [
+                    -0.9993101691426814,
+                    0.02875207066352377,
+                    0.023505409602566908
+                ],
+                [
+                    -0.03387174108518143,
+                    -0.4461119280884498,
+                    -0.8943359842771975
+                ]
+            ],
+            "translation_vector": [
+                0.6029519347296587,
+                -0.00047639655244480423,
+                0.6621426152236903
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229060998976838,
+                    -0.8945296103721955,
+                    0.44674920466460455
+                ],
+                [
+                    -0.9993101691466971,
+                    0.02875207061063879,
+                    0.023505409496541903
+                ],
+                [
+                    -0.033871249476343436,
+                    -0.44608305796450953,
+                    -0.8943504032849445
+                ]
+            ],
+            "translation_vector": [
+                0.6029614116077227,
+                -0.00047639651763448115,
+                0.662127383129972
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230411376408681,
+                    -0.8945473942397488,
+                    0.44671354806875957
+                ],
+                [
+                    -0.9993101691516574,
+                    0.02875207054531558,
+                    0.023505409365567758
+                ],
+                [
+                    -0.033870642146127825,
+                    -0.4460473942287204,
+                    -0.894368213714227
+                ]
+            ],
+            "translation_vector": [
+                0.6029731176607184,
+                -0.0004763964746359999,
+                0.6621085665919375
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230411376408681,
+                    -0.8945473942397488,
+                    0.44671354806875957
+                ],
+                [
+                    -0.9993101691516574,
+                    0.02875207054531558,
+                    0.023505409365567758
+                ],
+                [
+                    -0.033870642146127825,
+                    -0.4460473942287204,
+                    -0.894368213714227
+                ]
+            ],
+            "translation_vector": [
+                0.6029731176607184,
+                -0.0004763964746359999,
+                0.6621085665919375
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229130572031414,
+                    -0.894530527831303,
+                    0.4467473652522978
+                ],
+                [
+                    -0.9993101691457671,
+                    0.028752070560483397,
+                    0.02350540959744056
+                ],
+                [
+                    -0.03387121822253312,
+                    -0.4460812181837908,
+                    -0.894351322109934
+                ]
+            ],
+            "translation_vector": [
+                0.6029676330854958,
+                -0.00047639648039096114,
+                0.6621206512536039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229568226550107,
+                    -0.8945362912528095,
+                    0.4467358099406189
+                ],
+                [
+                    -0.9993101691477697,
+                    0.02875207055490821,
+                    0.02350540951911036
+                ],
+                [
+                    -0.03387102138241971,
+                    -0.44606966055816133,
+                    -0.894357094140835
+                ]
+            ],
+            "translation_vector": [
+                0.6029695542187629,
+                -0.00047639647813123385,
+                0.6621164737041505
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229568226550107,
+                    -0.8945362912528095,
+                    0.4467358099406189
+                ],
+                [
+                    -0.9993101691477697,
+                    0.02875207055490821,
+                    0.02350540951911036
+                ],
+                [
+                    -0.03387102138241971,
+                    -0.44606966055816133,
+                    -0.894357094140835
+                ]
+            ],
+            "translation_vector": [
+                0.6029695542187629,
+                -0.00047639647813123385,
+                0.6621164737041505
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015232963779452253,
+                    -0.894581005630136,
+                    0.4466461476160606
+                ],
+                [
+                    -0.9993101691606375,
+                    0.028752070406259673,
+                    0.023505409153876555
+                ],
+                [
+                    -0.03386949404156384,
+                    -0.44597998028289026,
+                    -0.8944018753112278
+                ]
+            ],
+            "translation_vector": [
+                0.6029971148472721,
+                -0.00047639638169297093,
+                0.6620710011842988
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523228861664881,
+                    -0.8945721152179242,
+                    0.4466639766737713
+                ],
+                [
+                    -0.9993101691581576,
+                    0.028752070438915697,
+                    0.023505409219366554
+                ],
+                [
+                    -0.033869797764281624,
+                    -0.4459978129094398,
+                    -0.8943929716178469
+                ]
+            ],
+            "translation_vector": [
+                0.6029912626618562,
+                -0.0004763964031891087,
+                0.6620804862839702
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523228861664881,
+                    -0.8945721152179242,
+                    0.4466639766737713
+                ],
+                [
+                    -0.9993101691581576,
+                    0.028752070438915697,
+                    0.023505409219366554
+                ],
+                [
+                    -0.033869797764281624,
+                    -0.4459978129094398,
+                    -0.8943929716178469
+                ]
+            ],
+            "translation_vector": [
+                0.6029912626618562,
+                -0.0004763964031891087,
+                0.6620804862839702
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523206452899815,
+                    -0.8945691634262336,
+                    0.4466698960721132
+                ],
+                [
+                    -0.9993101691583227,
+                    0.028752070488747065,
+                    0.023505409151397497
+                ],
+                [
+                    -0.03386989853762313,
+                    -0.44600373349277933,
+                    -0.8943900154203159
+                ]
+            ],
+            "translation_vector": [
+                0.6029846386909044,
+                -0.00047639643951261594,
+                0.662088411437548
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523206452899815,
+                    -0.8945691634262336,
+                    0.4466698960721132
+                ],
+                [
+                    -0.9993101691583227,
+                    0.028752070488747065,
+                    0.023505409151397497
+                ],
+                [
+                    -0.03386989853762313,
+                    -0.44600373349277933,
+                    -0.8943900154203159
+                ]
+            ],
+            "translation_vector": [
+                0.6029846386909044,
+                -0.00047639643951261594,
+                0.662088411437548
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523206452899815,
+                    -0.8945691634262336,
+                    0.4466698960721132
+                ],
+                [
+                    -0.9993101691583227,
+                    0.028752070488747065,
+                    0.023505409151397497
+                ],
+                [
+                    -0.03386989853762313,
+                    -0.44600373349277933,
+                    -0.8943900154203159
+                ]
+            ],
+            "translation_vector": [
+                0.6029846386909044,
+                -0.00047639643951261594,
+                0.662088411437548
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523145366037968,
+                    -0.8945611193068588,
+                    0.4466860269180699
+                ],
+                [
+                    -0.9993101691560787,
+                    0.028752070518294284,
+                    0.023505409210649298
+                ],
+                [
+                    -0.033870173318728755,
+                    -0.4460198675679928,
+                    -0.8943819592847281
+                ]
+            ],
+            "translation_vector": [
+                0.6029793435519338,
+                -0.0004763964589626347,
+                0.6620970002404911
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230707944522066,
+                    -0.8945512989709432,
+                    0.44670571861674885
+                ],
+                [
+                    -0.9993101691535371,
+                    0.028752070562164174,
+                    0.023505409265038805
+                ],
+                [
+                    -0.03387050873307466,
+                    -0.4460395632091232,
+                    -0.8943721242807029
+                ]
+            ],
+            "translation_vector": [
+                0.602971943014206,
+                -0.00047639648854465777,
+                0.6621082757758501
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230707944522066,
+                    -0.8945512989709432,
+                    0.44670571861674885
+                ],
+                [
+                    -0.9993101691535371,
+                    0.028752070562164174,
+                    0.023505409265038805
+                ],
+                [
+                    -0.03387050873307466,
+                    -0.4460395632091232,
+                    -0.8943721242807029
+                ]
+            ],
+            "translation_vector": [
+                0.602971943014206,
+                -0.00047639648854465777,
+                0.6621082757758501
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230591812096631,
+                    -0.8945497700182863,
+                    0.4467087843699551
+                ],
+                [
+                    -0.9993101691527151,
+                    0.028752070552184598,
+                    0.02350540931218476
+                ],
+                [
+                    -0.03387056097888563,
+                    -0.4460426295761334,
+                    -0.8943705930428298
+                ]
+            ],
+            "translation_vector": [
+                0.6029728090449579,
+                -0.0004763964805665911,
+                0.6621079731655561
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230289006801886,
+                    -0.8945457829298077,
+                    0.44671677888709976
+                ],
+                [
+                    -0.9993101691510102,
+                    0.0287520705434364,
+                    0.023505409395377607
+                ],
+                [
+                    -0.03387069719017179,
+                    -0.44605062569394716,
+                    -0.89436659999683
+                ]
+            ],
+            "translation_vector": [
+                0.6029729932603023,
+                -0.00047639647269446313,
+                0.6621092350301799
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230289006801886,
+                    -0.8945457829298077,
+                    0.44671677888709976
+                ],
+                [
+                    -0.9993101691510102,
+                    0.0287520705434364,
+                    0.023505409395377607
+                ],
+                [
+                    -0.03387069719017179,
+                    -0.44605062569394716,
+                    -0.89436659999683
+                ]
+            ],
+            "translation_vector": [
+                0.6029729932603023,
+                -0.00047639647269446313,
+                0.6621092350301799
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230321158402744,
+                    -0.8945462063409632,
+                    0.44671592991340947
+                ],
+                [
+                    -0.9993101691511285,
+                    0.02875207054188136,
+                    0.023505409392259306
+                ],
+                [
+                    -0.033870682729388785,
+                    -0.4460497765502688,
+                    -0.8943670240404107
+                ]
+            ],
+            "translation_vector": [
+                0.6029732719674132,
+                -0.000476396471670721,
+                0.6621088633057447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230321158402744,
+                    -0.8945462063409632,
+                    0.44671592991340947
+                ],
+                [
+                    -0.9993101691511285,
+                    0.02875207054188136,
+                    0.023505409392259306
+                ],
+                [
+                    -0.033870682729388785,
+                    -0.4460497765502688,
+                    -0.8943670240404107
+                ]
+            ],
+            "translation_vector": [
+                0.6029732719674132,
+                -0.000476396471670721,
+                0.6621088633057447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230321158402744,
+                    -0.8945462063409632,
+                    0.44671592991340947
+                ],
+                [
+                    -0.9993101691511285,
+                    0.02875207054188136,
+                    0.023505409392259306
+                ],
+                [
+                    -0.033870682729388785,
+                    -0.4460497765502688,
+                    -0.8943670240404107
+                ]
+            ],
+            "translation_vector": [
+                0.6029732719674132,
+                -0.000476396471670721,
+                0.6621088633057447
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230263091913993,
+                    -0.894545441848444,
+                    0.4467174627819273
+                ],
+                [
+                    -0.9993101691507176,
+                    0.02875207053689159,
+                    0.023505409415832342
+                ],
+                [
+                    -0.03387070885168111,
+                    -0.44605130972570073,
+                    -0.8943662584052866
+                ]
+            ],
+            "translation_vector": [
+                0.6029737049802855,
+                -0.000476396467681685,
+                0.6621087120011713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230327395123935,
+                    -0.8945462886712477,
+                    0.44671576483479253
+                ],
+                [
+                    -0.9993101691509538,
+                    0.028752070533781083,
+                    0.023505409409595585
+                ],
+                [
+                    -0.03387067993013333,
+                    -0.44604961143858957,
+                    -0.8943671064929399
+                ]
+            ],
+            "translation_vector": [
+                0.6029742623929444,
+                -0.00047639646563419144,
+                0.6621078159627949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230327395123935,
+                    -0.8945462886712477,
+                    0.44671576483479253
+                ],
+                [
+                    -0.9993101691509538,
+                    0.028752070533781083,
+                    0.023505409409595585
+                ],
+                [
+                    -0.03387067993013333,
+                    -0.44604961143858957,
+                    -0.8943671064929399
+                ]
+            ],
+            "translation_vector": [
+                0.6029742623929444,
+                -0.00047639646563419144,
+                0.6621078159627949
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230507831013013,
+                    -0.894548664461595,
+                    0.4467110011418858
+                ],
+                [
+                    -0.9993101691520117,
+                    0.02875207054064977,
+                    0.023505409356212374
+                ],
+                [
+                    -0.033870598763338186,
+                    -0.44604484679189116,
+                    -0.8943694858333502
+                ]
+            ],
+            "translation_vector": [
+                0.6029739537786548,
+                -0.0004763964715647794,
+                0.6621072225356485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230539982520424,
+                    -0.8945490878672648,
+                    0.44671015216545584
+                ],
+                [
+                    -0.9993101691521298,
+                    0.028752070539094607,
+                    0.023505409353093854
+                ],
+                [
+                    -0.033870584302347156,
+                    -0.4460439976454773,
+                    -0.8943699098714463
+                ]
+            ],
+            "translation_vector": [
+                0.6029742324837831,
+                -0.0004763964705410556,
+                0.662106774516356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230539982520424,
+                    -0.8945490878672648,
+                    0.44671015216545584
+                ],
+                [
+                    -0.9993101691521298,
+                    0.028752070539094607,
+                    0.023505409353093854
+                ],
+                [
+                    -0.033870584302347156,
+                    -0.4460439976454773,
+                    -0.8943699098714463
+                ]
+            ],
+            "translation_vector": [
+                0.6029742324837831,
+                -0.0004763964705410556,
+                0.662106774516356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523075256931649,
+                    -0.8945518870280522,
+                    0.44670453947852634
+                ],
+                [
+                    -0.999310169153306,
+                    0.028752070544408252,
+                    0.023505409296592346
+                ],
+                [
+                    -0.033870488673226895,
+                    -0.4460383838347988,
+                    -0.8943727132147299
+                ]
+            ],
+            "translation_vector": [
+                0.6029742025699091,
+                -0.0004763964754479074,
+                0.6621057330718827
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230784720719268,
+                    -0.8945523104275871,
+                    0.4467036904990331
+                ],
+                [
+                    -0.9993101691534239,
+                    0.028752070542852948,
+                    0.023505409293473823
+                ],
+                [
+                    -0.033870474212003614,
+                    -0.4460375346853262,
+                    -0.8943731372466919
+                ]
+            ],
+            "translation_vector": [
+                0.6029744812736233,
+                -0.0004763964744241753,
+                0.6621052850523541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230784720719268,
+                    -0.8945523104275871,
+                    0.4467036904990331
+                ],
+                [
+                    -0.9993101691534239,
+                    0.028752070542852948,
+                    0.023505409293473823
+                ],
+                [
+                    -0.033870474212003614,
+                    -0.4460375346853262,
+                    -0.8943731372466919
+                ]
+            ],
+            "translation_vector": [
+                0.6029744812736233,
+                -0.0004763964744241753,
+                0.6621052850523541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523081687210838,
+                    -0.8945527338263161,
+                    0.44670284151913736
+                ],
+                [
+                    -0.9993101691535421,
+                    0.02875207054129788,
+                    0.023505409290355526
+                ],
+                [
+                    -0.03387045975074996,
+                    -0.44603668553545156,
+                    -0.8943735612778484
+                ]
+            ],
+            "translation_vector": [
+                0.6029747599769125,
+                -0.0004763964734004394,
+                0.6621048370325612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230945477527324,
+                    -0.8945544274131711,
+                    0.4466994455955294
+                ],
+                [
+                    -0.9993101691540144,
+                    0.02875207053507681,
+                    0.02350540927788134
+                ],
+                [
+                    -0.033870401905429295,
+                    -0.44603328893193434,
+                    -0.8943752573944148
+                ]
+            ],
+            "translation_vector": [
+                0.602975874785816,
+                -0.00047639646930554974,
+                0.6621030449507441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230945477527324,
+                    -0.8945544274131711,
+                    0.4466994455955294
+                ],
+                [
+                    -0.9993101691540144,
+                    0.02875207053507681,
+                    0.02350540927788134
+                ],
+                [
+                    -0.033870401905429295,
+                    -0.44603328893193434,
+                    -0.8943752573944148
+                ]
+            ],
+            "translation_vector": [
+                0.602975874785816,
+                -0.00047639646930554974,
+                0.6621030449507441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.0152311187073046,
+                    -0.8945567090314881,
+                    0.4466948705208923
+                ],
+                [
+                    -0.9993101691542555,
+                    0.028752070511100705,
+                    0.02350540929696134
+                ],
+                [
+                    -0.033870323999291095,
+                    -0.4460287129413053,
+                    -0.8943775424193664
+                ]
+            ],
+            "translation_vector": [
+                0.6029792491033682,
+                -0.0004763964521140703,
+                0.6620987101238572
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231176773133483,
+                    -0.8945574734852784,
+                    0.44669333763303426
+                ],
+                [
+                    -0.9993101691546662,
+                    0.02875207051609069,
+                    0.023505409273388348
+                ],
+                [
+                    -0.03387029787553214,
+                    -0.4460271797465619,
+                    -0.8943783080157692
+                ]
+            ],
+            "translation_vector": [
+                0.6029788160924952,
+                -0.0004763964561030925,
+                0.6620989377315365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231176773133483,
+                    -0.8945574734852784,
+                    0.44669333763303426
+                ],
+                [
+                    -0.9993101691546662,
+                    0.02875207051609069,
+                    0.023505409273388348
+                ],
+                [
+                    -0.03387029787553214,
+                    -0.4460271797465619,
+                    -0.8943783080157692
+                ]
+            ],
+            "translation_vector": [
+                0.6029788160924952,
+                -0.0004763964561030925,
+                0.6620989377315365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230765042687232,
+                    -0.8945520516843846,
+                    0.44670420931917776
+                ],
+                [
+                    -0.9993101691529565,
+                    0.02875207052820796,
+                    0.023505409331264555
+                ],
+                [
+                    -0.03387048307455587,
+                    -0.4460380536093284,
+                    -0.8943728781155531
+                ]
+            ],
+            "translation_vector": [
+                0.6029761834077729,
+                -0.00047639646337494906,
+                0.6621036383739031
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230855260161267,
+                    -0.8945532395519501,
+                    0.4467018274589376
+                ],
+                [
+                    -0.9993101691534854,
+                    0.028752070531642283,
+                    0.023505409304572837
+                ],
+                [
+                    -0.03387044249011253,
+                    -0.446035671272213,
+                    -0.8943740677581556
+                ]
+            ],
+            "translation_vector": [
+                0.6029760290971896,
+                -0.000476396466340253,
+                0.662103341662118
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523099730682461,
+                    -0.8945551095478158,
+                    0.4466980777918504
+                ],
+                [
+                    -0.9993101691546002,
+                    0.02875207054816721,
+                    0.023505409236972415
+                ],
+                [
+                    -0.03387037858134751,
+                    -0.4460319208544245,
+                    -0.894375940549425
+                ]
+            ],
+            "translation_vector": [
+                0.6029744513540481,
+                -0.0004763964793310652,
+                0.6621042436098742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523081687210838,
+                    -0.8945527338263161,
+                    0.44670284151913736
+                ],
+                [
+                    -0.9993101691535421,
+                    0.02875207054129788,
+                    0.023505409290355526
+                ],
+                [
+                    -0.03387045975074996,
+                    -0.44603668553545156,
+                    -0.8943735612778484
+                ]
+            ],
+            "translation_vector": [
+                0.6029747599769125,
+                -0.0004763964734004394,
+                0.6621048370325612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523081687210838,
+                    -0.8945527338263161,
+                    0.44670284151913736
+                ],
+                [
+                    -0.9993101691535421,
+                    0.02875207054129788,
+                    0.023505409290355526
+                ],
+                [
+                    -0.03387045975074996,
+                    -0.44603668553545156,
+                    -0.8943735612778484
+                ]
+            ],
+            "translation_vector": [
+                0.6029747599769125,
+                -0.0004763964734004394,
+                0.6621048370325612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230507831013013,
+                    -0.894548664461595,
+                    0.4467110011418858
+                ],
+                [
+                    -0.9993101691520117,
+                    0.02875207054064977,
+                    0.023505409356212374
+                ],
+                [
+                    -0.033870598763338186,
+                    -0.44604484679189116,
+                    -0.8943694858333502
+                ]
+            ],
+            "translation_vector": [
+                0.6029739537786548,
+                -0.0004763964715647794,
+                0.6621072225356485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621066232098742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621066232098742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230205025380809,
+                    -0.8945446773532968,
+                    0.44671899564913276
+                ],
+                [
+                    -0.9993101691503063,
+                    0.02875207053190217,
+                    0.02350540943940525
+                ],
+                [
+                    -0.033870734973873794,
+                    -0.4460528428998222,
+                    -0.8943654927675351
+                ]
+            ],
+            "translation_vector": [
+                0.6029741379925053,
+                -0.0004763964636926888,
+                0.6621085606964514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230205025380809,
+                    -0.8945446773532968,
+                    0.44671899564913276
+                ],
+                [
+                    -0.9993101691503063,
+                    0.02875207053190217,
+                    0.02350540943940525
+                ],
+                [
+                    -0.033870734973873794,
+                    -0.4460528428998222,
+                    -0.8943654927675351
+                ]
+            ],
+            "translation_vector": [
+                0.6029741379925053,
+                -0.0004763964636926888,
+                0.6621085606964514
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230263091913993,
+                    -0.894545441848444,
+                    0.4467174627819273
+                ],
+                [
+                    -0.9993101691507176,
+                    0.02875207053689159,
+                    0.023505409415832342
+                ],
+                [
+                    -0.03387070885168111,
+                    -0.44605130972570073,
+                    -0.8943662584052866
+                ]
+            ],
+            "translation_vector": [
+                0.6029737049802855,
+                -0.000476396467681685,
+                0.6621087120011713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621066232098742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072041790002,
+                    -0.894551463627711,
+                    0.44670538845761715
+                ],
+                [
+                    -0.9993101691531876,
+                    0.028752070545963716,
+                    0.023505409299711018
+                ],
+                [
+                    -0.03387050313441994,
+                    -0.44603923298386944,
+                    -0.8943722891819613
+                ]
+            ],
+            "translation_vector": [
+                0.6029739238657694,
+                -0.00047639647647163664,
+                0.6621061047972011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072041790002,
+                    -0.894551463627711,
+                    0.44670538845761715
+                ],
+                [
+                    -0.9993101691531876,
+                    0.028752070545963716,
+                    0.023505409299711018
+                ],
+                [
+                    -0.03387050313441994,
+                    -0.44603923298386944,
+                    -0.8943722891819613
+                ]
+            ],
+            "translation_vector": [
+                0.6029739238657694,
+                -0.00047639647647163664,
+                0.6621061047972011
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230662351719326,
+                    -0.8945506991532627,
+                    0.44670692133515943
+                ],
+                [
+                    -0.9993101691527769,
+                    0.028752070540973895,
+                    0.02350540932328395
+                ],
+                [
+                    -0.03387052925739661,
+                    -0.44604076616831223,
+                    -0.8943715235649046
+                ]
+            ],
+            "translation_vector": [
+                0.6029743568795927,
+                -0.00047639647248261236,
+                0.6621060297841356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230662351719326,
+                    -0.8945506991532627,
+                    0.44670692133515943
+                ],
+                [
+                    -0.9993101691527769,
+                    0.028752070540973895,
+                    0.02350540932328395
+                ],
+                [
+                    -0.03387052925739661,
+                    -0.44604076616831223,
+                    -0.8943715235649046
+                ]
+            ],
+            "translation_vector": [
+                0.6029743568795927,
+                -0.00047639647248261236,
+                0.6621060297841356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230662351719326,
+                    -0.8945506991532627,
+                    0.44670692133515943
+                ],
+                [
+                    -0.9993101691527769,
+                    0.028752070540973895,
+                    0.02350540932328395
+                ],
+                [
+                    -0.03387052925739661,
+                    -0.44604076616831223,
+                    -0.8943715235649046
+                ]
+            ],
+            "translation_vector": [
+                0.6029743568795927,
+                -0.00047639647248261236,
+                0.6621060297841356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230146958802647,
+                    -0.8945439128555224,
+                    0.4467205285150263
+                ],
+                [
+                    -0.9993101691498958,
+                    0.02875207052691278,
+                    0.02350540946297856
+                ],
+                [
+                    -0.033870761095967365,
+                    -0.44605437607263354,
+                    -0.8943647271271568
+                ]
+            ],
+            "translation_vector": [
+                0.6029745710040731,
+                -0.0004763964597036553,
+                0.662108409391585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230146958802647,
+                    -0.8945439128555224,
+                    0.4467205285150263
+                ],
+                [
+                    -0.9993101691498958,
+                    0.02875207052691278,
+                    0.02350540946297856
+                ],
+                [
+                    -0.033870761095967365,
+                    -0.44605437607263354,
+                    -0.8943647271271568
+                ]
+            ],
+            "translation_vector": [
+                0.6029745710040731,
+                -0.0004763964597036553,
+                0.662108409391585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523023717701746,
+                    -0.894545100766557,
+                    0.44671814667649357
+                ],
+                [
+                    -0.9993101691504244,
+                    0.028752070530347076,
+                    0.023505409436287115
+                ],
+                [
+                    -0.033870720513170645,
+                    -0.44605199375719334,
+                    -0.8943659168132199
+                ]
+            ],
+            "translation_vector": [
+                0.6029744166989038,
+                -0.00047639646266892934,
+                0.6621081126769844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523070697654097,
+                    -0.8945512872119573,
+                    0.44670574219772924
+                ],
+                [
+                    -0.9993101691525457,
+                    0.02875207052321839,
+                    0.0235054093548377
+                ],
+                [
+                    -0.03387050919760932,
+                    -0.44603958679477895,
+                    -0.8943721125005168
+                ]
+            ],
+            "translation_vector": [
+                0.6029766164195736,
+                -0.00047639645938593004,
+                0.6621034870645438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523070697654097,
+                    -0.8945512872119573,
+                    0.44670574219772924
+                ],
+                [
+                    -0.9993101691525457,
+                    0.02875207052321839,
+                    0.0235054093548377
+                ],
+                [
+                    -0.03387050919760932,
+                    -0.44603958679477895,
+                    -0.8943721125005168
+                ]
+            ],
+            "translation_vector": [
+                0.6029766164195736,
+                -0.00047639645938593004,
+                0.6621034870645438
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230327395123935,
+                    -0.8945462886712477,
+                    0.44671576483479253
+                ],
+                [
+                    -0.9993101691509538,
+                    0.028752070533781083,
+                    0.023505409409595585
+                ],
+                [
+                    -0.03387067993013333,
+                    -0.44604961143858957,
+                    -0.8943671064929399
+                ]
+            ],
+            "translation_vector": [
+                0.6029742623929444,
+                -0.00047639646563419144,
+                0.6621077396688495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230327395123935,
+                    -0.8945462886712477,
+                    0.44671576483479253
+                ],
+                [
+                    -0.9993101691509538,
+                    0.028752070533781083,
+                    0.023505409409595585
+                ],
+                [
+                    -0.03387067993013333,
+                    -0.44604961143858957,
+                    -0.8943671064929399
+                ]
+            ],
+            "translation_vector": [
+                0.6029742623929444,
+                -0.00047639646563419144,
+                0.6621077396688495
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230539982520424,
+                    -0.8945490878672648,
+                    0.44671015216545584
+                ],
+                [
+                    -0.9993101691521298,
+                    0.028752070539094607,
+                    0.023505409353093854
+                ],
+                [
+                    -0.033870584302347156,
+                    -0.4460439976454773,
+                    -0.8943699098714463
+                ]
+            ],
+            "translation_vector": [
+                0.6029742324837831,
+                -0.0004763964705410556,
+                0.662106774516356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621056580584059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621056580584059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230572134014042,
+                    -0.8945495112721285,
+                    0.44670930318862345
+                ],
+                [
+                    -0.9993101691522477,
+                    0.028752070537539476,
+                    0.02350540934997555
+                ],
+                [
+                    -0.033870569841325845,
+                    -0.44604314849866167,
+                    -0.8943703339087361
+                ]
+            ],
+            "translation_vector": [
+                0.602974511188486,
+                -0.00047639646951731297,
+                0.6621062502028541
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621065469159289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621065469159289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621063956093002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621063956093002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621063956093002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621062514838516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621062514838516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621053554431222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523023717701746,
+                    -0.894545100766557,
+                    0.44671814667649357
+                ],
+                [
+                    -0.9993101691504244,
+                    0.028752070530347076,
+                    0.023505409436287115
+                ],
+                [
+                    -0.033870720513170645,
+                    -0.44605199375719334,
+                    -0.8943659168132199
+                ]
+            ],
+            "translation_vector": [
+                0.6029744166989038,
+                -0.00047639646266892934,
+                0.6621081126769844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523023717701746,
+                    -0.894545100766557,
+                    0.44671814667649357
+                ],
+                [
+                    -0.9993101691504244,
+                    0.028752070530347076,
+                    0.023505409436287115
+                ],
+                [
+                    -0.033870720513170645,
+                    -0.44605199375719334,
+                    -0.8943659168132199
+                ]
+            ],
+            "translation_vector": [
+                0.6029744166989038,
+                -0.00047639646266892934,
+                0.6621081126769844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230765042687232,
+                    -0.8945520516843846,
+                    0.44670420931917776
+                ],
+                [
+                    -0.9993101691529565,
+                    0.02875207052820796,
+                    0.023505409331264555
+                ],
+                [
+                    -0.03387048307455587,
+                    -0.4460380536093284,
+                    -0.8943728781155531
+                ]
+            ],
+            "translation_vector": [
+                0.6029761834077729,
+                -0.00047639646337494906,
+                0.6621036383739031
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621061001768119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621047548344703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621047548344703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621047548344703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230217498842204,
+                    -0.8945448420149668,
+                    0.4467186654924495
+                ],
+                [
+                    -0.9993101691499569,
+                    0.028752070515702166,
+                    0.023505409474077785
+                ],
+                [
+                    -0.03387072937540483,
+                    -0.44605251267701307,
+                    -0.8943656576736947
+                ]
+            ],
+            "translation_vector": [
+                0.602976118836882,
+                -0.00047639645161969707,
+                0.662106466003828
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230217498842204,
+                    -0.8945448420149668,
+                    0.4467186654924495
+                ],
+                [
+                    -0.9993101691499569,
+                    0.028752070515702166,
+                    0.023505409474077785
+                ],
+                [
+                    -0.03387072937540483,
+                    -0.44605251267701307,
+                    -0.8943656576736947
+                ]
+            ],
+            "translation_vector": [
+                0.602976118836882,
+                -0.00047639645161969707,
+                0.662106466003828
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230249650473468,
+                    -0.8945452654279137,
+                    0.4467178165196537
+                ],
+                [
+                    -0.9993101691500751,
+                    0.028752070514146844,
+                    0.023505409470959217
+                ],
+                [
+                    -0.03387071491468932,
+                    -0.44605166353422787,
+                    -0.8943660817190662
+                ]
+            ],
+            "translation_vector": [
+                0.6029763975412922,
+                -0.0004763964505959721,
+                0.6621060179824805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621046107098719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621044581219814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621044581219814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621057212683479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230372020144177,
+                    -0.894546876741604,
+                    0.446714585703186
+                ],
+                [
+                    -0.9993101691507225,
+                    0.028752070516025862,
+                    0.02350540944114949
+                ],
+                [
+                    -0.03387065987078773,
+                    -0.44604843207087097,
+                    -0.8943676954402116
+                ]
+            ],
+            "translation_vector": [
+                0.6029765219389263,
+                -0.00047639645253749714,
+                0.6621052732468824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230372020144177,
+                    -0.894546876741604,
+                    0.446714585703186
+                ],
+                [
+                    -0.9993101691507225,
+                    0.028752070516025862,
+                    0.02350540944114949
+                ],
+                [
+                    -0.03387065987078773,
+                    -0.44604843207087097,
+                    -0.8943676954402116
+                ]
+            ],
+            "translation_vector": [
+                0.6029765219389263,
+                -0.00047639645253749714,
+                0.6621052732468824
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049002393617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049002393617
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043831073895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043831073895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230256855187354,
+                    -0.894545359517846,
+                    0.4467176278603876
+                ],
+                [
+                    -0.9993101691508921,
+                    0.02875207054499165,
+                    0.02350540939849629
+                ],
+                [
+                    -0.0338707116509247,
+                    -0.44605147483722357,
+                    -0.8943661759524436
+                ]
+            ],
+            "translation_vector": [
+                0.602972714552766,
+                -0.00047639647371818265,
+                0.6621097593422411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230256855187354,
+                    -0.894545359517846,
+                    0.4467176278603876
+                ],
+                [
+                    -0.9993101691508921,
+                    0.02875207054499165,
+                    0.02350540939849629
+                ],
+                [
+                    -0.0338707116509247,
+                    -0.44605147483722357,
+                    -0.8943661759524436
+                ]
+            ],
+            "translation_vector": [
+                0.602972714552766,
+                -0.00047639647371818265,
+                0.6621097593422411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230572134014042,
+                    -0.8945495112721285,
+                    0.44670930318862345
+                ],
+                [
+                    -0.9993101691522477,
+                    0.028752070537539476,
+                    0.02350540934997555
+                ],
+                [
+                    -0.033870569841325845,
+                    -0.44604314849866167,
+                    -0.8943703339087361
+                ]
+            ],
+            "translation_vector": [
+                0.602974511188486,
+                -0.00047639646951731297,
+                0.6621063264967993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230379224846624,
+                    -0.8945469708308545,
+                    0.44671439704357907
+                ],
+                [
+                    -0.999310169151539,
+                    0.02875207054687098,
+                    0.023505409368686267
+                ],
+                [
+                    -0.03387065660699694,
+                    -0.44604824337352633,
+                    -0.8943677896729072
+                ]
+            ],
+            "translation_vector": [
+                0.602972838953889,
+                -0.00047639647565974745,
+                0.6621090146101716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230379224846624,
+                    -0.8945469708308545,
+                    0.44671439704357907
+                ],
+                [
+                    -0.999310169151539,
+                    0.02875207054687098,
+                    0.023505409368686267
+                ],
+                [
+                    -0.03387065660699694,
+                    -0.44604824337352633,
+                    -0.8943677896729072
+                ]
+            ],
+            "translation_vector": [
+                0.602972838953889,
+                -0.00047639647565974745,
+                0.6621090146101716
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230172873730479,
+                    -0.8945442539392308,
+                    0.4467198446213698
+                ],
+                [
+                    -0.9993101691501884,
+                    0.028752070533457505,
+                    0.023505409442523825
+                ],
+                [
+                    -0.033870749434546994,
+                    -0.4460536920420492,
+                    -0.8943650687210445
+                ]
+            ],
+            "translation_vector": [
+                0.6029738592856816,
+                -0.0004763964647164222,
+                0.6621090087156538
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229998673787513,
+                    -0.8945419604336569,
+                    0.446724443212933
+                ],
+                [
+                    -0.9993101691489553,
+                    0.028752070518489357,
+                    0.023505409513243113
+                ],
+                [
+                    -0.03387082780036305,
+                    -0.4460582915543753,
+                    -0.8943627717876618
+                ]
+            ],
+            "translation_vector": [
+                0.6029751583188594,
+                -0.00047639645274938835,
+                0.6621085548018477
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229998673787513,
+                    -0.8945419604336569,
+                    0.446724443212933
+                ],
+                [
+                    -0.9993101691489553,
+                    0.028752070518489357,
+                    0.023505409513243113
+                ],
+                [
+                    -0.03387082780036305,
+                    -0.4460582915543753,
+                    -0.8943627717876618
+                ]
+            ],
+            "translation_vector": [
+                0.6029751583188594,
+                -0.00047639645274938835,
+                0.6621085548018477
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230153195538436,
+                    -0.8945439951866553,
+                    0.4467203634368338
+                ],
+                [
+                    -0.9993101691497209,
+                    0.02875207051881274,
+                    0.023505409480314605
+                ],
+                [
+                    -0.03387075829674389,
+                    -0.4460542109613781,
+                    -0.8943648095805344
+                ]
+            ],
+            "translation_vector": [
+                0.602975561426786,
+                -0.00047639645366717763,
+                0.662107362045729
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621066232098742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523075256931649,
+                    -0.8945518870280522,
+                    0.44670453947852634
+                ],
+                [
+                    -0.999310169153306,
+                    0.028752070544408252,
+                    0.023505409296592346
+                ],
+                [
+                    -0.033870488673226895,
+                    -0.4460383838347988,
+                    -0.8943727132147299
+                ]
+            ],
+            "translation_vector": [
+                0.6029742025699091,
+                -0.0004763964754479074,
+                0.662105809365828
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230565897312958,
+                    -0.8945494289430371,
+                    0.446709468267836
+                ],
+                [
+                    -0.9993101691524224,
+                    0.028752070545639448,
+                    0.023505409332639227
+                ],
+                [
+                    -0.03387057264062605,
+                    -0.4460433136109358,
+                    -0.8943702514573995
+                ]
+            ],
+            "translation_vector": [
+                0.6029735207650527,
+                -0.0004763964755538176,
+                0.6621073738415727
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230385461562983,
+                    -0.8945470531608559,
+                    0.4467142319648212
+                ],
+                [
+                    -0.9993101691513646,
+                    0.028752070538770644,
+                    0.023505409386022164
+                ],
+                [
+                    -0.03387065380773045,
+                    -0.4460480782617063,
+                    -0.8943678721251538
+                ]
+            ],
+            "translation_vector": [
+                0.6029738293803595,
+                -0.00047639646962324884,
+                0.6621078909742448
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230385461562983,
+                    -0.8945470531608559,
+                    0.4467142319648212
+                ],
+                [
+                    -0.9993101691513646,
+                    0.028752070538770644,
+                    0.023505409386022164
+                ],
+                [
+                    -0.03387065380773045,
+                    -0.4460480782617063,
+                    -0.8943678721251538
+                ]
+            ],
+            "translation_vector": [
+                0.6029738293803595,
+                -0.00047639646962324884,
+                0.6621078909742448
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230572134014042,
+                    -0.8945495112721285,
+                    0.44670930318862345
+                ],
+                [
+                    -0.9993101691522477,
+                    0.028752070537539476,
+                    0.02350540934997555
+                ],
+                [
+                    -0.033870569841325845,
+                    -0.44604314849866167,
+                    -0.8943703339087361
+                ]
+            ],
+            "translation_vector": [
+                0.602974511188486,
+                -0.00047639646951731297,
+                0.6621063264967993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230572134014042,
+                    -0.8945495112721285,
+                    0.44670930318862345
+                ],
+                [
+                    -0.9993101691522477,
+                    0.028752070537539476,
+                    0.02350540934997555
+                ],
+                [
+                    -0.033870569841325845,
+                    -0.44604314849866167,
+                    -0.8943703339087361
+                ]
+            ],
+            "translation_vector": [
+                0.602974511188486,
+                -0.00047639646951731297,
+                0.6621063264967993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230539982520424,
+                    -0.8945490878672648,
+                    0.44671015216545584
+                ],
+                [
+                    -0.9993101691521298,
+                    0.028752070539094607,
+                    0.023505409353093854
+                ],
+                [
+                    -0.033870584302347156,
+                    -0.4460439976454773,
+                    -0.8943699098714463
+                ]
+            ],
+            "translation_vector": [
+                0.6029742324837831,
+                -0.0004763964705410556,
+                0.662106774516356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621063956093002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621063956093002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.6621055067508373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.6621055067508373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040101011018
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621056580584059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621056580584059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.662105058730487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621049074223608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621049074223608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621053554431222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621053554431222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.662105058730487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.662105058730487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621047548344703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049061425964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049061425964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621044581219814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621044581219814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058021830326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621062514838516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621062514838516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043831073895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621044581219814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621044581219814
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230263091913993,
+                    -0.894545441848444,
+                    0.4467174627819273
+                ],
+                [
+                    -0.9993101691507176,
+                    0.02875207053689159,
+                    0.023505409415832342
+                ],
+                [
+                    -0.03387070885168111,
+                    -0.44605130972570073,
+                    -0.8943662584052866
+                ]
+            ],
+            "translation_vector": [
+                0.6029737049802855,
+                -0.000476396467681685,
+                0.662108635707226
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621066923230504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621066923230504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055054705153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055054705153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230539982520424,
+                    -0.8945490878672648,
+                    0.44671015216545584
+                ],
+                [
+                    -0.9993101691521298,
+                    0.028752070539094607,
+                    0.023505409353093854
+                ],
+                [
+                    -0.033870584302347156,
+                    -0.4460439976454773,
+                    -0.8943699098714463
+                ]
+            ],
+            "translation_vector": [
+                0.6029742324837831,
+                -0.0004763964705410556,
+                0.662106774516356
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230289006801886,
+                    -0.8945457829298077,
+                    0.44671677888709976
+                ],
+                [
+                    -0.9993101691510102,
+                    0.0287520705434364,
+                    0.023505409395377607
+                ],
+                [
+                    -0.03387069719017179,
+                    -0.44605062569394716,
+                    -0.89436659999683
+                ]
+            ],
+            "translation_vector": [
+                0.6029729932603023,
+                -0.00047639647269446313,
+                0.6621093113241252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230289006801886,
+                    -0.8945457829298077,
+                    0.44671677888709976
+                ],
+                [
+                    -0.9993101691510102,
+                    0.0287520705434364,
+                    0.023505409395377607
+                ],
+                [
+                    -0.03387069719017179,
+                    -0.44605062569394716,
+                    -0.89436659999683
+                ]
+            ],
+            "translation_vector": [
+                0.6029729932603023,
+                -0.00047639647269446313,
+                0.6621093113241252
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231762697593253,
+                    -0.8945651884436869,
+                    0.4466778671815237
+                ],
+                [
+                    -0.9993101691576093,
+                    0.028752070518943663,
+                    0.02350540914479203
+                ],
+                [
+                    -0.033870034297510884,
+                    -0.4460117061979251,
+                    -0.8943860345013787
+                ]
+            ],
+            "translation_vector": [
+                0.6029801496945175,
+                -0.00047639646079853146,
+                0.6620944621376668
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230076418697044,
+                    -0.8945429836921955,
+                    0.44672239153566495
+                ],
+                [
+                    -0.9993101691498341,
+                    0.028752070538123203,
+                    0.023505409451879157
+                ],
+                [
+                    -0.03387079281638268,
+                    -0.4460562394663188,
+                    -0.8943637965767373
+                ]
+            ],
+            "translation_vector": [
+                0.6029730231626587,
+                -0.0004763964677876469,
+                0.6621103527716742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230771279371771,
+                    -0.8945521340125051,
+                    0.4467040442394805
+                ],
+                [
+                    -0.9993101691527817,
+                    0.028752070520107757,
+                    0.023505409348600605
+                ],
+                [
+                    -0.03387048027521853,
+                    -0.44603788849657033,
+                    -0.8943729605659189
+                ]
+            ],
+            "translation_vector": [
+                0.6029771738223131,
+                -0.00047639645733848725,
+                0.6621025147266945
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523023717701746,
+                    -0.894545100766557,
+                    0.44671814667649357
+                ],
+                [
+                    -0.9993101691504244,
+                    0.028752070530347076,
+                    0.023505409436287115
+                ],
+                [
+                    -0.033870720513170645,
+                    -0.44605199375719334,
+                    -0.8943659168132199
+                ]
+            ],
+            "translation_vector": [
+                0.6029744166989038,
+                -0.00047639646266892934,
+                0.6621081126769844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523023717701746,
+                    -0.894545100766557,
+                    0.44671814667649357
+                ],
+                [
+                    -0.9993101691504244,
+                    0.028752070530347076,
+                    0.023505409436287115
+                ],
+                [
+                    -0.033870720513170645,
+                    -0.44605199375719334,
+                    -0.8943659168132199
+                ]
+            ],
+            "translation_vector": [
+                0.6029744166989038,
+                -0.00047639646266892934,
+                0.6621081126769844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523023717701746,
+                    -0.894545100766557,
+                    0.44671814667649357
+                ],
+                [
+                    -0.9993101691504244,
+                    0.028752070530347076,
+                    0.023505409436287115
+                ],
+                [
+                    -0.033870720513170645,
+                    -0.44605199375719334,
+                    -0.8943659168132199
+                ]
+            ],
+            "translation_vector": [
+                0.6029744166989038,
+                -0.00047639646266892934,
+                0.6621081126769844
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230185347197165,
+                    -0.8945444186012143,
+                    0.44671951446484276
+                ],
+                [
+                    -0.9993101691498388,
+                    0.02875207051725744,
+                    0.023505409477196194
+                ],
+                [
+                    -0.033870743836089574,
+                    -0.4460533618193964,
+                    -0.8943652336275177
+                ]
+            ],
+            "translation_vector": [
+                0.6029758401320466,
+                -0.00047639645264343567,
+                0.6621069140249106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230185347197165,
+                    -0.8945444186012143,
+                    0.44671951446484276
+                ],
+                [
+                    -0.9993101691498388,
+                    0.02875207051725744,
+                    0.023505409477196194
+                ],
+                [
+                    -0.033870743836089574,
+                    -0.4460533618193964,
+                    -0.8943652336275177
+                ]
+            ],
+            "translation_vector": [
+                0.6029758401320466,
+                -0.00047639645264343567,
+                0.6621069140249106
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230121043866007,
+                    -0.8945435717712908,
+                    0.4467212124084218
+                ],
+                [
+                    -0.999310169149603,
+                    0.028752070520368107,
+                    0.023505409483433236
+                ],
+                [
+                    -0.03387077275736791,
+                    -0.44605506010295726,
+                    -0.894364385532746
+                ]
+            ],
+            "translation_vector": [
+                0.6029752827211001,
+                -0.00047639645469090295,
+                0.6621077337723374
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229972758799596,
+                    -0.8945416193464314,
+                    0.4467251271048333
+                ],
+                [
+                    -0.9993101691486628,
+                    0.02875207051194447,
+                    0.02350540953369791
+                ],
+                [
+                    -0.033870839461650266,
+                    -0.4460589755832061,
+                    -0.8943624301902576
+                ]
+            ],
+            "translation_vector": [
+                0.6029758700348635,
+                -0.0004763964477366104,
+                0.6621078791821606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229972758799596,
+                    -0.8945416193464314,
+                    0.4467251271048333
+                ],
+                [
+                    -0.9993101691486628,
+                    0.02875207051194447,
+                    0.02350540953369791
+                ],
+                [
+                    -0.033870839461650266,
+                    -0.4460589755832061,
+                    -0.8943624301902576
+                ]
+            ],
+            "translation_vector": [
+                0.6029758700348635,
+                -0.0004763964477366104,
+                0.6621078791821606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621063956093002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621063956093002
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055054705153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055054705153
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058021830326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058021830326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058021830326
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230823108788566,
+                    -0.8945528161541841,
+                    0.44670267643931405
+                ],
+                [
+                    -0.9993101691533673,
+                    0.028752070533197647,
+                    0.023505409307691575
+                ],
+                [
+                    -0.03387045695140315,
+                    -0.44603652042256753,
+                    -0.8943736437279619
+                ]
+            ],
+            "translation_vector": [
+                0.6029757503953199,
+                -0.00047639646736396125,
+                0.6621037896831157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230823108788566,
+                    -0.8945528161541841,
+                    0.44670267643931405
+                ],
+                [
+                    -0.9993101691533673,
+                    0.028752070533197647,
+                    0.023505409307691575
+                ],
+                [
+                    -0.03387045695140315,
+                    -0.44603652042256753,
+                    -0.8943736437279619
+                ]
+            ],
+            "translation_vector": [
+                0.6029757503953199,
+                -0.00047639646736396125,
+                0.6621037896831157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.662106098895961
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230481916200618,
+                    -0.8945483233846502,
+                    0.44671168503892006
+                ],
+                [
+                    -0.9993101691517189,
+                    0.028752070534105032,
+                    0.023505409376666883
+                ],
+                [
+                    -0.033870610425014706,
+                    -0.44604553082584814,
+                    -0.8943691442462248
+                ]
+            ],
+            "translation_vector": [
+                0.6029746654965893,
+                -0.00047639646655203927,
+                0.6621065469159289
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229812967907421,
+                    -0.8945395139985421,
+                    0.4467293483667868
+                ],
+                [
+                    -0.9993101691490641,
+                    0.028752070558665757,
+                    0.023505409459490523
+                ],
+                [
+                    -0.03387091129909755,
+                    -0.4460631976904626,
+                    -0.8943603217014539
+                ]
+            ],
+            "translation_vector": [
+                0.6029698030440416,
+                -0.0004763964820142302,
+                0.6621149842401767
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230256855187354,
+                    -0.894545359517846,
+                    0.4467176278603876
+                ],
+                [
+                    -0.9993101691508921,
+                    0.02875207054499165,
+                    0.02350540939849629
+                ],
+                [
+                    -0.0338707116509247,
+                    -0.44605147483722357,
+                    -0.8943661759524436
+                ]
+            ],
+            "translation_vector": [
+                0.602972714552766,
+                -0.00047639647371818265,
+                0.6621097593422411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230256855187354,
+                    -0.894545359517846,
+                    0.4467176278603876
+                ],
+                [
+                    -0.9993101691508921,
+                    0.02875207054499165,
+                    0.02350540939849629
+                ],
+                [
+                    -0.0338707116509247,
+                    -0.44605147483722357,
+                    -0.8943661759524436
+                ]
+            ],
+            "translation_vector": [
+                0.602972714552766,
+                -0.00047639647371818265,
+                0.6621097593422411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229889745017315,
+                    -0.8945405255087804,
+                    0.4467273202758356
+                ],
+                [
+                    -0.9993101691489508,
+                    0.028752070539355187,
+                    0.02350540948792619
+                ],
+                [
+                    -0.033870876780055986,
+                    -0.44606116919338995,
+                    -0.8943613347210264
+                ]
+            ],
+            "translation_vector": [
+                0.6029723413387241,
+                -0.0004763964678936252,
+                0.6621119172471402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229889745017315,
+                    -0.8945405255087804,
+                    0.4467273202758356
+                ],
+                [
+                    -0.9993101691489508,
+                    0.028752070539355187,
+                    0.02350540948792619
+                ],
+                [
+                    -0.033870876780055986,
+                    -0.44606116919338995,
+                    -0.8943613347210264
+                ]
+            ],
+            "translation_vector": [
+                0.6029723413387241,
+                -0.0004763964678936252,
+                0.6621119172471402
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523070697654097,
+                    -0.8945512872119573,
+                    0.44670574219772924
+                ],
+                [
+                    -0.9993101691525457,
+                    0.02875207052321839,
+                    0.0235054093548377
+                ],
+                [
+                    -0.03387050919760932,
+                    -0.44603958679477895,
+                    -0.8943721125005168
+                ]
+            ],
+            "translation_vector": [
+                0.6029766164195736,
+                -0.00047639645938593004,
+                0.6621034107705984
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621047561140881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621047561140881
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.6621038587921537
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.6621038587921537
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621062443025251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621062443025251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621049074223608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621048311284156
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621058034636191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.662105058730487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621061001768119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621061001768119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621062443025251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621062443025251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621062443025251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621062443025251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621059488696258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621059488696258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621057212683479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230674825104894,
+                    -0.8945508638104746,
+                    0.4467065911762498
+                ],
+                [
+                    -0.9993101691524275,
+                    0.02875207052477358,
+                    0.023505409357956218
+                ],
+                [
+                    -0.03387052365875874,
+                    -0.4460404359432802,
+                    -0.8943716884666072
+                ]
+            ],
+            "translation_vector": [
+                0.6029763377175661,
+                -0.0004763964604096464,
+                0.662103935086099
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230881174845515,
+                    -0.8945535806213558,
+                    0.4467011435581384
+                ],
+                [
+                    -0.9993101691537785,
+                    0.028752070538187617,
+                    0.023505409284118543
+                ],
+                [
+                    -0.033870430828150895,
+                    -0.44603498723449675,
+                    -0.8943744093377437
+                ]
+            ],
+            "translation_vector": [
+                0.6029753173822149,
+                -0.0004763964713530014,
+                0.6621038646982365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230881174845515,
+                    -0.8945535806213558,
+                    0.4467011435581384
+                ],
+                [
+                    -0.9993101691537785,
+                    0.028752070538187617,
+                    0.023505409284118543
+                ],
+                [
+                    -0.033870430828150895,
+                    -0.44603498723449675,
+                    -0.8943744093377437
+                ]
+            ],
+            "translation_vector": [
+                0.6029753173822149,
+                -0.0004763964713530014,
+                0.6621038646982365
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230494389616033,
+                    -0.8945484880436209,
+                    0.44671135488088864
+                ],
+                [
+                    -0.9993101691513694,
+                    0.028752070517904744,
+                    0.023505409411339204
+                ],
+                [
+                    -0.03387060482644344,
+                    -0.44604520060169306,
+                    -0.8943693091496857
+                ]
+            ],
+            "translation_vector": [
+                0.6029766463347817,
+                -0.00047639645447906985,
+                0.6621045285117236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230494389616033,
+                    -0.8945484880436209,
+                    0.44671135488088864
+                ],
+                [
+                    -0.9993101691513694,
+                    0.028752070517904744,
+                    0.023505409411339204
+                ],
+                [
+                    -0.03387060482644344,
+                    -0.44604520060169306,
+                    -0.8943693091496857
+                ]
+            ],
+            "translation_vector": [
+                0.6029766463347817,
+                -0.00047639645447906985,
+                0.6621045285117236
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621057212683479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230172873730479,
+                    -0.8945442539392308,
+                    0.4467198446213698
+                ],
+                [
+                    -0.9993101691501884,
+                    0.028752070533457505,
+                    0.023505409442523825
+                ],
+                [
+                    -0.033870749434546994,
+                    -0.4460536920420492,
+                    -0.8943650687210445
+                ]
+            ],
+            "translation_vector": [
+                0.6029738592856816,
+                -0.0004763964647164222,
+                0.6621090087156538
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621057212683479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043831073895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043831073895
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621045344159266
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.662105058730487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621046107098719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230700739851047,
+                    -0.8945512048835236,
+                    0.44670590727726955
+                ],
+                [
+                    -0.9993101691527202,
+                    0.028752070531318445,
+                    0.023505409337501535
+                ],
+                [
+                    -0.033870511996934596,
+                    -0.4460397519073803,
+                    -0.8943720300498379
+                ]
+            ],
+            "translation_vector": [
+                0.602975626003045,
+                -0.0004763964654223993,
+                0.6621046107098719
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621061001768119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230217498842204,
+                    -0.8945448420149668,
+                    0.4467186654924495
+                ],
+                [
+                    -0.9993101691499569,
+                    0.028752070515702166,
+                    0.023505409474077785
+                ],
+                [
+                    -0.03387072937540483,
+                    -0.44605251267701307,
+                    -0.8943656576736947
+                ]
+            ],
+            "translation_vector": [
+                0.602976118836882,
+                -0.00047639645161969707,
+                0.662106466003828
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230249650473468,
+                    -0.8945452654279137,
+                    0.4467178165196537
+                ],
+                [
+                    -0.9993101691500751,
+                    0.028752070514146844,
+                    0.023505409470959217
+                ],
+                [
+                    -0.03387071491468932,
+                    -0.44605166353422787,
+                    -0.8943660817190662
+                ]
+            ],
+            "translation_vector": [
+                0.6029763975412922,
+                -0.0004763964505959721,
+                0.6621060179824805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230249650473468,
+                    -0.8945452654279137,
+                    0.4467178165196537
+                ],
+                [
+                    -0.9993101691500751,
+                    0.028752070514146844,
+                    0.023505409470959217
+                ],
+                [
+                    -0.03387071491468932,
+                    -0.44605166353422787,
+                    -0.8943660817190662
+                ]
+            ],
+            "translation_vector": [
+                0.6029763975412922,
+                -0.0004763964505959721,
+                0.6621060179824805
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621049074223608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230610522191766,
+                    -0.8945500170050906,
+                    0.4467082891320831
+                ],
+                [
+                    -0.9993101691521914,
+                    0.028752070527884064,
+                    0.02350540936419298
+                ],
+                [
+                    -0.03387055258096603,
+                    -0.44604213423907707,
+                    -0.8943708403963699
+                ]
+            ],
+            "translation_vector": [
+                0.6029757803122748,
+                -0.00047639646245711885,
+                0.6621049074223608
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621052041352606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621052041352606
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230732891275888,
+                    -0.8945516282843571,
+                    0.44670505829842505
+                ],
+                [
+                    -0.9993101691528384,
+                    0.028752070529763123,
+                    0.023505409334383078
+                ],
+                [
+                    -0.03387049753576054,
+                    -0.44603890275855534,
+                    -0.8943724540830984
+                ]
+            ],
+            "translation_vector": [
+                0.6029759047056216,
+                -0.00047639646439866457,
+                0.6621040863950471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621057212683479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621057212683479
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621049765333071
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230552455926357,
+                    -0.8945492525256694,
+                    0.44670982200714193
+                ],
+                [
+                    -0.9993101691517802,
+                    0.028752070522894538,
+                    0.02350540938776622
+                ],
+                [
+                    -0.03387057870375466,
+                    -0.4460436674210401,
+                    -0.8943700747743413
+                ]
+            ],
+            "translation_vector": [
+                0.6029762133238543,
+                -0.0004763964584680905,
+                0.6621046798201429
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230211262111628,
+                    -0.8945447596841472,
+                    0.446718830570799
+                ],
+                [
+                    -0.9993101691501318,
+                    0.028752070523802097,
+                    0.02350540945674169
+                ],
+                [
+                    -0.03387073217463995,
+                    -0.44605267778842533,
+                    -0.8943655752206302
+                ]
+            ],
+            "translation_vector": [
+                0.6029751284161576,
+                -0.0004763964576561647,
+                0.6621075133515641
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230404171709731,
+                    -0.8945473001506772,
+                    0.44671373672845566
+                ],
+                [
+                    -0.9993101691508405,
+                    0.02875207051447075,
+                    0.0235054094380308
+                ],
+                [
+                    -0.03387064540992552,
+                    -0.44604758292615426,
+                    -0.8943681194817101
+                ]
+            ],
+            "translation_vector": [
+                0.6029768006422043,
+                -0.0004763964515138025,
+                0.6621048252251525
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621056449744026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230339868565344,
+                    -0.8945464533317247,
+                    0.44671543467751346
+                ],
+                [
+                    -0.9993101691506041,
+                    0.028752070517581232,
+                    0.02350540944426772
+                ],
+                [
+                    -0.03387067433161909,
+                    -0.44604928121518556,
+                    -0.8943672713979071
+                ]
+            ],
+            "translation_vector": [
+                0.6029762432352231,
+                -0.00047639645356125824,
+                0.6621056449744026
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621062443025251
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621071403433113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621071403433113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621071403433113
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621057962817353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621057962817353
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621066923230504
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621053554431222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621053554431222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621068449109411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621068449109411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621053482606808
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523039169827905,
+                    -0.894547135490827,
+                    0.446714066886048
+                ],
+                [
+                    -0.9993101691511899,
+                    0.02875207053067076,
+                    0.023505409403358542
+                ],
+                [
+                    -0.03387065100846345,
+                    -0.44604791314987075,
+                    -0.89436795457737
+                ]
+            ],
+            "translation_vector": [
+                0.6029748198039022,
+                -0.0004763964635867451,
+                0.6621069199233599
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230951714197223,
+                    -0.8945545097404124,
+                    0.446699280515393
+                ],
+                [
+                    -0.9993101691538397,
+                    0.02875207052697689,
+                    0.023505409295217387
+                ],
+                [
+                    -0.0338703991060588,
+                    -0.4460331238187377,
+                    -0.8943753398439017
+                ]
+            ],
+            "translation_vector": [
+                0.6029768652002467,
+                -0.00047639646326910924,
+                0.6621019975975377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230951714197223,
+                    -0.8945545097404124,
+                    0.446699280515393
+                ],
+                [
+                    -0.9993101691538397,
+                    0.02875207052697689,
+                    0.023505409295217387
+                ],
+                [
+                    -0.0338703991060588,
+                    -0.4460331238187377,
+                    -0.8943753398439017
+                ]
+            ],
+            "translation_vector": [
+                0.6029768652002467,
+                -0.00047639646326910924,
+                0.6621019975975377
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230797194084737,
+                    -0.8945524750836064,
+                    0.446703360339528
+                ],
+                [
+                    -0.9993101691530748,
+                    0.028752070526652865,
+                    0.023505409328146203
+                ],
+                [
+                    -0.03387046861332098,
+                    -0.4460372044596995,
+                    -0.894373302147202
+                ]
+            ],
+            "translation_vector": [
+                0.6029764621094988,
+                -0.0004763964623512226,
+                0.6621031903524943
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230044266991904,
+                    -0.8945425602749051,
+                    0.4467232405062914
+                ],
+                [
+                    -0.9993101691497157,
+                    0.02875207053967869,
+                    0.023505409454997718
+                ],
+                [
+                    -0.033870807276933854,
+                    -0.4460570886069378,
+                    -0.894363372527023
+                ]
+            ],
+            "translation_vector": [
+                0.6029727444541337,
+                -0.0004763964688113977,
+                0.6621108007898184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230044266991904,
+                    -0.8945425602749051,
+                    0.4467232405062914
+                ],
+                [
+                    -0.9993101691497157,
+                    0.02875207053967869,
+                    0.023505409454997718
+                ],
+                [
+                    -0.033870807276933854,
+                    -0.4460570886069378,
+                    -0.894363372527023
+                ]
+            ],
+            "translation_vector": [
+                0.6029727444541337,
+                -0.0004763964688113977,
+                0.6621108007898184
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229786084862949,
+                    -0.8945391611479374,
+                    0.44673005583747377
+                ],
+                [
+                    -0.9993101691477791,
+                    0.028752070513176606,
+                    0.02350540956974482
+                ],
+                [
+                    -0.033870923424752064,
+                    -0.4460639053027585,
+                    -0.8943599683194712
+                ]
+            ],
+            "translation_vector": [
+                0.6029751882168484,
+                -0.0004763964478425836,
+                0.6621095962540967
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015228870450762898,
+                    -0.8945271049999317,
+                    0.4467542276523351
+                ],
+                [
+                    -0.9993101691418469,
+                    0.028752070456099437,
+                    0.023505409891789116
+                ],
+                [
+                    -0.03387133529235863,
+                    -0.4460880819579559,
+                    -0.8943478941556158
+                ]
+            ],
+            "translation_vector": [
+                0.6029794237474865,
+                -0.00047639640110462285,
+                0.6621098694163143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015228870450762898,
+                    -0.8945271049999317,
+                    0.4467542276523351
+                ],
+                [
+                    -0.9993101691418469,
+                    0.028752070456099437,
+                    0.023505409891789116
+                ],
+                [
+                    -0.03387133529235863,
+                    -0.4460880819579559,
+                    -0.8943478941556158
+                ]
+            ],
+            "translation_vector": [
+                0.6029794237474865,
+                -0.00047639640110462285,
+                0.6621098694163143
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015228890129289236,
+                    -0.8945273637721551,
+                    0.4467537088466837
+                ],
+                [
+                    -0.9993101691423142,
+                    0.02875207047074226,
+                    0.02350540985399755
+                ],
+                [
+                    -0.03387132643090529,
+                    -0.4460875630484252,
+                    -0.89434815331577
+                ]
+            ],
+            "translation_vector": [
+                0.6029777216169515,
+                -0.00047639641215377397,
+                0.6621115160928857
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231183977758673,
+                    -0.8945575675700462,
+                    0.4466931489711889
+                ],
+                [
+                    -0.9993101691554831,
+                    0.028752070546936417,
+                    0.023505409200925618
+                ],
+                [
+                    -0.03387029461157088,
+                    -0.44602699104698246,
+                    -0.8943784022439829
+                ]
+            ],
+            "translation_vector": [
+                0.6029751331462113,
+                -0.00047639647922519346,
+                0.6621026028394995
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231087524020689,
+                    -0.8945562973990487,
+                    0.4466956959234543
+                ],
+                [
+                    -0.9993101691551289,
+                    0.028752070551602178,
+                    0.023505409210281065
+                ],
+                [
+                    -0.033870337996286165,
+                    -0.44602953850916544,
+                    -0.8943771301756981
+                ]
+            ],
+            "translation_vector": [
+                0.6029742970414307,
+                -0.00047639648229637924,
+                0.6621039468991471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231087524020689,
+                    -0.8945562973990487,
+                    0.4466956959234543
+                ],
+                [
+                    -0.9993101691551289,
+                    0.028752070551602178,
+                    0.023505409210281065
+                ],
+                [
+                    -0.033870337996286165,
+                    -0.44602953850916544,
+                    -0.8943771301756981
+                ]
+            ],
+            "translation_vector": [
+                0.6029742970414307,
+                -0.00047639648229637924,
+                0.6621039468991471
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523099730682461,
+                    -0.8945551095478158,
+                    0.4466980777918504
+                ],
+                [
+                    -0.9993101691546002,
+                    0.02875207054816721,
+                    0.023505409236972415
+                ],
+                [
+                    -0.03387037858134751,
+                    -0.4460319208544245,
+                    -0.894375940549425
+                ]
+            ],
+            "translation_vector": [
+                0.6029744513540481,
+                -0.0004763964793310652,
+                0.6621042436098742
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231151826526339,
+                    -0.8945571441805199,
+                    0.44669399795567993
+                ],
+                [
+                    -0.9993101691553652,
+                    0.02875207054849155,
+                    0.023505409204043867
+                ],
+                [
+                    -0.03387030907317297,
+                    -0.44602784020144537,
+                    -0.8943779782220275
+                ]
+            ],
+            "translation_vector": [
+                0.6029748544450432,
+                -0.0004763964802489357,
+                0.6621030508596466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015231151826526339,
+                    -0.8945571441805199,
+                    0.44669399795567993
+                ],
+                [
+                    -0.9993101691553652,
+                    0.02875207054849155,
+                    0.023505409204043867
+                ],
+                [
+                    -0.03387030907317297,
+                    -0.44602784020144537,
+                    -0.8943779782220275
+                ]
+            ],
+            "translation_vector": [
+                0.6029748544450432,
+                -0.0004763964802489357,
+                0.6621030508596466
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230907089520402,
+                    -0.8945539216902384,
+                    0.4467004596570779
+                ],
+                [
+                    -0.9993101691540712,
+                    0.028752070544732437,
+                    0.023505409263664085
+                ],
+                [
+                    -0.03387041916616896,
+                    -0.44603430319651965,
+                    -0.8943747509168084
+                ]
+            ],
+            "translation_vector": [
+                0.6029746056658754,
+                -0.0004763964763657328,
+                0.6621045403210122
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523081687210838,
+                    -0.8945527338263161,
+                    0.44670284151913736
+                ],
+                [
+                    -0.9993101691535421,
+                    0.02875207054129788,
+                    0.023505409290355526
+                ],
+                [
+                    -0.03387045975074996,
+                    -0.44603668553545156,
+                    -0.8943735612778484
+                ]
+            ],
+            "translation_vector": [
+                0.6029747599769125,
+                -0.0004763964734004394,
+                0.6621048370325612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523081687210838,
+                    -0.8945527338263161,
+                    0.44670284151913736
+                ],
+                [
+                    -0.9993101691535421,
+                    0.02875207054129788,
+                    0.023505409290355526
+                ],
+                [
+                    -0.03387045975074996,
+                    -0.44603668553545156,
+                    -0.8943735612778484
+                ]
+            ],
+            "translation_vector": [
+                0.6029747599769125,
+                -0.0004763964734004394,
+                0.6621048370325612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043068134441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230642673655084,
+                    -0.8945504404081855,
+                    0.44670744015436753
+                ],
+                [
+                    -0.9993101691523093,
+                    0.02875207052632885,
+                    0.02350540936107484
+                ],
+                [
+                    -0.03387053811987797,
+                    -0.4460412850913794,
+                    -0.8943712644318914
+                ]
+            ],
+            "translation_vector": [
+                0.602976059015133,
+                -0.0004763964614333592,
+                0.6621043068134441
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230359546708387,
+                    -0.8945467120814403,
+                    0.44671491586062134
+                ],
+                [
+                    -0.9993101691510717,
+                    0.028752070532225858,
+                    0.02350540940647684
+                ],
+                [
+                    -0.0338706654693135,
+                    -0.4460487622944309,
+                    -0.894367530535558
+                ]
+            ],
+            "translation_vector": [
+                0.602974541098636,
+                -0.00047639646461048547,
+                0.6621073679432095
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230385461562983,
+                    -0.8945470531608559,
+                    0.4467142319648212
+                ],
+                [
+                    -0.9993101691513646,
+                    0.028752070538770644,
+                    0.023505409386022164
+                ],
+                [
+                    -0.03387065380773045,
+                    -0.4460480782617063,
+                    -0.8943678721251538
+                ]
+            ],
+            "translation_vector": [
+                0.6029738293803595,
+                -0.00047639646962324884,
+                0.6621078909742448
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230385461562983,
+                    -0.8945470531608559,
+                    0.4467142319648212
+                ],
+                [
+                    -0.9993101691513646,
+                    0.028752070538770644,
+                    0.023505409386022164
+                ],
+                [
+                    -0.03387065380773045,
+                    -0.4460480782617063,
+                    -0.8943678721251538
+                ]
+            ],
+            "translation_vector": [
+                0.6029738293803595,
+                -0.00047639646962324884,
+                0.6621078909742448
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230855260161267,
+                    -0.8945532395519501,
+                    0.4467018274589376
+                ],
+                [
+                    -0.9993101691534854,
+                    0.028752070531642283,
+                    0.023505409304572837
+                ],
+                [
+                    -0.03387044249011253,
+                    -0.446035671272213,
+                    -0.8943740677581556
+                ]
+            ],
+            "translation_vector": [
+                0.6029760290971896,
+                -0.000476396466340253,
+                0.662103341662118
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621047620182625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621047620182625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049061425964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621058034636191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.6621055067508373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621058034636191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621058034636191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523052030442419,
+                    -0.8945488291203132,
+                    0.4467106709837281
+                ],
+                [
+                    -0.9993101691516624,
+                    0.028752070524449568,
+                    0.023505409390884642
+                ],
+                [
+                    -0.03387059316475742,
+                    -0.44604451656761007,
+                    -0.8943696507365592
+                ]
+            ],
+            "translation_vector": [
+                0.6029759346207145,
+                -0.00047639645949180764,
+                0.6621051278413154
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621061001768119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230584607414525,
+                    -0.8945496759302196,
+                    0.4467089730301532
+                ],
+                [
+                    -0.9993101691518982,
+                    0.028752070521339126,
+                    0.023505409384647704
+                ],
+                [
+                    -0.03387056424272117,
+                    -0.4460428182740683,
+                    -0.8943704988113178
+                ]
+            ],
+            "translation_vector": [
+                0.6029764920265689,
+                -0.0004763964574443559,
+                0.6621042317987059
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621056521561686
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230211262111628,
+                    -0.8945447596841472,
+                    0.446718830570799
+                ],
+                [
+                    -0.9993101691501318,
+                    0.028752070523802097,
+                    0.02350540945674169
+                ],
+                [
+                    -0.03387073217463995,
+                    -0.44605267778842533,
+                    -0.8943655752206302
+                ]
+            ],
+            "translation_vector": [
+                0.6029751284161576,
+                -0.0004763964576561647,
+                0.6621075133515641
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230211262111628,
+                    -0.8945447596841472,
+                    0.446718830570799
+                ],
+                [
+                    -0.9993101691501318,
+                    0.028752070523802097,
+                    0.02350540945674169
+                ],
+                [
+                    -0.03387073217463995,
+                    -0.44605267778842533,
+                    -0.8943655752206302
+                ]
+            ],
+            "translation_vector": [
+                0.6029751284161576,
+                -0.0004763964576561647,
+                0.6621075133515641
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621054245546261
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621050528272524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230462238089233,
+                    -0.8945480646368091,
+                    0.446712203856748
+                ],
+                [
+                    -0.9993101691512515,
+                    0.028752070519460136,
+                    0.023505409414457834
+                ],
+                [
+                    -0.03387061928739132,
+                    -0.4460460497475372,
+                    -0.8943688851104482
+                ]
+            ],
+            "translation_vector": [
+                0.6029763676317854,
+                -0.0004763964555027913,
+                0.6621050528272524
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015229986200289885,
+                    -0.8945417957698537,
+                    0.44672477336855126
+                ],
+                [
+                    -0.999310169149305,
+                    0.028752070534689315,
+                    0.02350540947857075
+                ],
+                [
+                    -0.033870833398751646,
+                    -0.44605862177612093,
+                    -0.8943626068793693
+                ]
+            ],
+            "translation_vector": [
+                0.6029731774664197,
+                -0.00047639646482238796,
+                0.6621106494870072
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621059488696258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230449764668526,
+                    -0.8945478999775248,
+                    0.4467125340146228
+                ],
+                [
+                    -0.9993101691516008,
+                    0.028752070535660333,
+                    0.0235054093797854
+                ],
+                [
+                    -0.03387062488595053,
+                    -0.44604637997153596,
+                    -0.8943687202066736
+                ]
+            ],
+            "translation_vector": [
+                0.6029743867916046,
+                -0.00047639646757577245,
+                0.6621070712295772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230449764668526,
+                    -0.8945478999775248,
+                    0.4467125340146228
+                ],
+                [
+                    -0.9993101691516008,
+                    0.028752070535660333,
+                    0.0235054093797854
+                ],
+                [
+                    -0.03387062488595053,
+                    -0.44604637997153596,
+                    -0.8943687202066736
+                ]
+            ],
+            "translation_vector": [
+                0.6029743867916046,
+                -0.00047639646757577245,
+                0.6621070712295772
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621062514838516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621062514838516
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230269328640324,
+                    -0.8945455241790112,
+                    0.4467172977034519
+                ],
+                [
+                    -0.9993101691505427,
+                    0.028752070528791755,
+                    0.023505409433168548
+                ],
+                [
+                    -0.033870706052436514,
+                    -0.4460511446141626,
+                    -0.8943663408580987
+                ]
+            ],
+            "translation_vector": [
+                0.6029746954048771,
+                -0.0004763964616451985,
+                0.6621076646572527
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230301480249571,
+                    -0.8945459475906591,
+                    0.44671644873000743
+                ],
+                [
+                    -0.9993101691506606,
+                    0.02875207052723656,
+                    0.02350540943005008
+                ],
+                [
+                    -0.03387069159167192,
+                    -0.4460502954707297,
+                    -0.8943667649021715
+                ]
+            ],
+            "translation_vector": [
+                0.602974974110425,
+                -0.0004763964606214682,
+                0.6621072166372566
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621068449109411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621068449109411
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230333631844744,
+                    -0.894546371001501,
+                    0.4467155997561609
+                ],
+                [
+                    -0.9993101691507787,
+                    0.0287520705256809,
+                    0.023505409426931464
+                ],
+                [
+                    -0.033870677130876485,
+                    -0.4460494463268953,
+                    -0.8943671889454385
+                ]
+            ],
+            "translation_vector": [
+                0.6029752528155476,
+                -0.00047639645959771966,
+                0.6621067686169957
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621061001768119
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523043008654892,
+                    -0.8945476412291913,
+                    0.4467130528322049
+                ],
+                [
+                    -0.9993101691511334,
+                    0.028752070521015517,
+                    0.02350540941757624
+                ],
+                [
+                    -0.03387063374830838,
+                    -0.4460468988929796,
+                    -0.8943684610704049
+                ]
+            ],
+            "translation_vector": [
+                0.602976088928364,
+                -0.00047639645652653595,
+                0.6621055008485713
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230307716972327,
+                    -0.8945460299210394,
+                    0.4467162836514388
+                ],
+                [
+                    -0.9993101691504862,
+                    0.028752070519136374,
+                    0.02350540944738636
+                ],
+                [
+                    -0.03387068879242011,
+                    -0.4460501303590985,
+                    -0.8943668473547969
+                ]
+            ],
+            "translation_vector": [
+                0.6029759645310947,
+                -0.00047639645458496296,
+                0.6621061692895489
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230275565365978,
+                    -0.8945456065095481,
+                    0.4467171326249612
+                ],
+                [
+                    -0.9993101691503681,
+                    0.028752070520691696,
+                    0.023505409450504708
+                ],
+                [
+                    -0.03387070325319057,
+                    -0.44605097950260925,
+                    -0.8943664233108805
+                ]
+            ],
+            "translation_vector": [
+                0.6029756858265409,
+                -0.00047639645560871126,
+                0.662106617310485
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049061425964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049061425964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523081687210838,
+                    -0.8945527338263161,
+                    0.44670284151913736
+                ],
+                [
+                    -0.9993101691535421,
+                    0.02875207054129788,
+                    0.023505409290355526
+                ],
+                [
+                    -0.03387045975074996,
+                    -0.44603668553545156,
+                    -0.8943735612778484
+                ]
+            ],
+            "translation_vector": [
+                0.6029747599769125,
+                -0.0004763964734004394,
+                0.6621048370325612
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621050574505758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621050574505758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230572134014042,
+                    -0.8945495112721285,
+                    0.44670930318862345
+                ],
+                [
+                    -0.9993101691522477,
+                    0.028752070537539476,
+                    0.02350540934997555
+                ],
+                [
+                    -0.033870569841325845,
+                    -0.44604314849866167,
+                    -0.8943703339087361
+                ]
+            ],
+            "translation_vector": [
+                0.602974511188486,
+                -0.00047639646951731297,
+                0.6621063264967993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230572134014042,
+                    -0.8945495112721285,
+                    0.44670930318862345
+                ],
+                [
+                    -0.9993101691522477,
+                    0.028752070537539476,
+                    0.02350540934997555
+                ],
+                [
+                    -0.033870569841325845,
+                    -0.44604314849866167,
+                    -0.8943703339087361
+                ]
+            ],
+            "translation_vector": [
+                0.602974511188486,
+                -0.00047639646951731297,
+                0.6621063264967993
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621058034636191
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230604285493762,
+                    -0.8945499346761864,
+                    0.4467084542113889
+                ],
+                [
+                    -0.999310169152366,
+                    0.028752070535984067,
+                    0.02350540934685693
+                ],
+                [
+                    -0.03387055538027371,
+                    -0.44604229935144435,
+                    -0.8943707579452205
+                ]
+            ],
+            "translation_vector": [
+                0.6029747898927637,
+                -0.00047639646849358363,
+                0.6621058784769779
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.6621055067508373
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621064719032455
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230243413745655,
+                    -0.8945451830972504,
+                    0.44671798159808157
+                ],
+                [
+                    -0.9993101691502498,
+                    0.028752070522246907,
+                    0.02350540945362317
+                ],
+                [
+                    -0.03387071771393054,
+                    -0.4460518286457185,
+                    -0.8943659992661582
+                ]
+            ],
+            "translation_vector": [
+                0.602975407121562,
+                -0.0004763964566324412,
+                0.6621070653311568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063968904157
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230423849835927,
+                    -0.8945475588994075,
+                    0.4467132179110719
+                ],
+                [
+                    -0.999310169151308,
+                    0.028752070529115315,
+                    0.023505409400239808
+                ],
+                [
+                    -0.0338706365475824,
+                    -0.4460470640049086,
+                    -0.8943683786183758
+                ]
+            ],
+            "translation_vector": [
+                0.6029750985087432,
+                -0.0004763964625630246,
+                0.6621065481971908
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230694503160528,
+                    -0.8945511225550591,
+                    0.44670607235679516
+                ],
+                [
+                    -0.9993101691528948,
+                    0.02875207053941842,
+                    0.023505409320165323
+                ],
+                [
+                    -0.03387051479625866,
+                    -0.44603991701996704,
+                    -0.8943719475991279
+                ]
+            ],
+            "translation_vector": [
+                0.6029746355835885,
+                -0.0004763964714588786,
+                0.6621055817644605
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230514067718913,
+                    -0.8945487467909693,
+                    0.44671083606281464
+                ],
+                [
+                    -0.9993101691518371,
+                    0.028752070532549766,
+                    0.023505409373548482
+                ],
+                [
+                    -0.0338705959640484,
+                    -0.4460446816797583,
+                    -0.8943695682849698
+                ]
+            ],
+            "translation_vector": [
+                0.6029749442011485,
+                -0.0004763964655282984,
+                0.6621061751899062
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230243413745655,
+                    -0.8945451830972504,
+                    0.44671798159808157
+                ],
+                [
+                    -0.9993101691502498,
+                    0.028752070522246907,
+                    0.02350540945362317
+                ],
+                [
+                    -0.03387071771393054,
+                    -0.4460518286457185,
+                    -0.8943659992661582
+                ]
+            ],
+            "translation_vector": [
+                0.602975407121562,
+                -0.0004763964566324412,
+                0.6621070653311568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230243413745655,
+                    -0.8945451830972504,
+                    0.44671798159808157
+                ],
+                [
+                    -0.9993101691502498,
+                    0.028752070522246907,
+                    0.02350540945362317
+                ],
+                [
+                    -0.03387071771393054,
+                    -0.4460518286457185,
+                    -0.8943659992661582
+                ]
+            ],
+            "translation_vector": [
+                0.602975407121562,
+                -0.0004763964566324412,
+                0.6621070653311568
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230243413745655,
+                    -0.8945451830972504,
+                    0.44671798159808157
+                ],
+                [
+                    -0.9993101691502498,
+                    0.028752070522246907,
+                    0.02350540945362317
+                ],
+                [
+                    -0.03387071771393054,
+                    -0.4460518286457185,
+                    -0.8943659992661582
+                ]
+            ],
+            "translation_vector": [
+                0.602975407121562,
+                -0.0004763964566324412,
+                0.6621069890372115
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230365783426597,
+                    -0.8945467944115374,
+                    0.4467147507819113
+                ],
+                [
+                    -0.999310169150897,
+                    0.028752070524125827,
+                    0.023505409423813052
+                ],
+                [
+                    -0.033870662670050906,
+                    -0.44604859718265855,
+                    -0.8943676129878999
+                ]
+            ],
+            "translation_vector": [
+                0.602975531520245,
+                -0.0004763964585739948,
+                0.6621063205964703
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621059475889213
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.6621055758622234
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621059488696258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621059488696258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621058725756807
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230397934994365,
+                    -0.8945472178207672,
+                    0.44671390180725956
+                ],
+                [
+                    -0.9993101691510152,
+                    0.02875207052257051,
+                    0.023505409420694817
+                ],
+                [
+                    -0.033870648209195005,
+                    -0.4460477480380202,
+                    -0.894368037029555
+                ]
+            ],
+            "translation_vector": [
+                0.6029758102245171,
+                -0.0004763964575502355,
+                0.6621059488696258
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230456001379143,
+                    -0.8945479823071824,
+                    0.4467123689356929
+                ],
+                [
+                    -0.9993101691514261,
+                    0.02875207052756016,
+                    0.023505409397121507
+                ],
+                [
+                    -0.03387062208667134,
+                    -0.4460462148595441,
+                    -0.8943688026585762
+                ]
+            ],
+            "translation_vector": [
+                0.6029753772131589,
+                -0.00047639646153928224,
+                0.6621060238828665
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230488152908723,
+                    -0.8945484057141506,
+                    0.4467115199599118
+                ],
+                [
+                    -0.999310169151544,
+                    0.02875207052600508,
+                    0.023505409394003147
+                ],
+                [
+                    -0.03387060762572979,
+                    -0.446045365713778,
+                    -0.8943692266979705
+                ]
+            ],
+            "translation_vector": [
+                0.6029756559171493,
+                -0.00047639646051555296,
+                0.662105499568278
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043890125039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621050574505758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621050574505758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621057271696738
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621050574505758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043127185585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043127185585
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621044653064491
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043890125039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043890125039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.6621053541629467
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.6621053541629467
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049061425964
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043890125039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043890125039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523084902348381,
+                    -0.894553157224239,
+                    0.44670199253883924
+                ],
+                [
+                    -0.9993101691536602,
+                    0.028752070539742745,
+                    0.023505409287237003
+                ],
+                [
+                    -0.03387044528946561,
+                    -0.4460358363851753,
+                    -0.8943739853081988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750386797763,
+                -0.00047639647237672256,
+                0.6621043890125039
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621047620182625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621047620182625
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621050574505758
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.6621046857243174
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230758806002007,
+                    -0.8945519693562337,
+                    0.44670437439885974
+                ],
+                [
+                    -0.9993101691531313,
+                    0.028752070536308,
+                    0.023505409313928454
+                ],
+                [
+                    -0.033870485873891985,
+                    -0.4460382187220712,
+                    -0.8943727956651567
+                ]
+            ],
+            "translation_vector": [
+                0.6029751929903048,
+                -0.00047639646941141444,
+                0.662104609430372
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523072665458812,
+                    -0.8945515459560497,
+                    0.4467052233780284
+                ],
+                [
+                    -0.9993101691530132,
+                    0.02875207053786324,
+                    0.023505409317046918
+                ],
+                [
+                    -0.03387050033509055,
+                    -0.4460390678712198,
+                    -0.8943723716325456
+                ]
+            ],
+            "translation_vector": [
+                0.6029749142871593,
+                -0.0004763964704351453,
+                0.6621051337445211
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230636436959759,
+                    -0.8945503580794383,
+                    0.4467076052337516
+                ],
+                [
+                    -0.9993101691524842,
+                    0.028752070534428856,
+                    0.023505409343738577
+                ],
+                [
+                    -0.03387054091919122,
+                    -0.44604145020382485,
+                    -0.8943711819808988
+                ]
+            ],
+            "translation_vector": [
+                0.6029750685966161,
+                -0.0004763964674698426,
+                0.662105430456892
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.6621049824365418
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.662105058730487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.01523066858841229,
+                    -0.8945507814818839,
+                    0.44670675625571205
+                ],
+                [
+                    -0.9993101691526023,
+                    0.028752070532873583,
+                    0.02350540934061995
+                ],
+                [
+                    -0.033870526458078094,
+                    -0.4460406010558038,
+                    -0.8943716060157713
+                ]
+            ],
+            "translation_vector": [
+                0.6029753473000432,
+                -0.0004763964664461262,
+                0.662105058730487
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621053554431222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621053554431222
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.6621052028552317
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230578370714435,
+                    -0.8945495936011896,
+                    0.44670913810939616
+                ],
+                [
+                    -0.9993101691520733,
+                    0.02875207052943911,
+                    0.023505409367311447
+                ],
+                [
+                    -0.03387056704202386,
+                    -0.44604298338637277,
+                    -0.8943704163600426
+                ]
+            ],
+            "translation_vector": [
+                0.6029755016089914,
+                -0.0004763964634808337,
+                0.662105279149177
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.015230546219223326,
+                    -0.8945491701964825,
+                    0.44670998708630627
+                ],
+                [
+                    -0.9993101691519549,
+                    0.028752070530994264,
+                    0.023505409370429962
+                ],
+                [
+                    -0.03387058150305123,
+                    -0.44604383253326607,
+                    -0.8943699923229093
+                ]
+            ],
+            "translation_vector": [
+                0.6029752229052826,
+                -0.0004763964645045526,
+                0.6621056508757285
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237515/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ba2546e9453060b617bfd9c0dff2752c922b2f
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.4365,
+        "fv": 236.3625,
+        "pu": 480.07,
+        "pv": 387.63,
+        "distortion_model": "equidistant",
+        "k1": 0.100142,
+        "k2": -0.0478495,
+        "k3": 0.0138268,
+        "k4": -0.00175599
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237515/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb625a3024c596112e45eeeaabf574d71235018
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.7397426482475326,
+                0.2546309487825091,
+                -0.6228514223198391
+            ],
+            [
+                -0.014892032821220919,
+                -0.9192145070685855,
+                -0.39347543424349857
+            ],
+            [
+                -0.67272508628873,
+                0.30034608357156467,
+                -0.6761902013198979
+            ]
+        ],
+        "translation_vector": [
+            -0.07867559926036344,
+            -0.023142457803141062,
+            -0.052689327710371964
+        ]
+    }
+}
diff --git a/parameters/1957/1237515/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237515/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ad69572032d11564ae3f0a5eab2f7f2e4101bc
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/head_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 235.7655,
+        "fv": 235.788,
+        "pu": 483.011,
+        "pv": 387.185,
+        "distortion_model": "equidistant",
+        "k1": 0.100539,
+        "k2": -0.0483109,
+        "k3": 0.0138957,
+        "k4": -0.00175731
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237515/parameters/camera/rs_camera_info.json b/parameters/1957/1237515/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15273764b6e3d17cc1d93378df3b5554fb502e24
--- /dev/null
+++ b/parameters/1957/1237515/parameters/camera/rs_camera_info.json
@@ -0,0 +1,26 @@
+{
+    "d455_1": {
+        "SN": "309622300958",
+        "name": "head",
+        "fps": "30",
+        "width": "640",
+        "height": "480",
+        "model": "Realsense-D455"
+    },
+    "d405_1": {
+        "SN": "230322270037",
+        "name": "hand_left",
+        "fps": "30",
+        "width": "640",
+        "height": "480",
+        "model": "Realsense-D405"
+    },
+    "d405_2": {
+        "SN": "230322276962",
+        "name": "hand_right",
+        "fps": "30",
+        "width": "640",
+        "height": "480",
+        "model": "Realsense-D405"
+    }
+}
\ No newline at end of file